fix(intersection): prevent unnecessary stop inside intersection witho…

…ut traffic light when occlusion feature is off Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Oct 17, 2023 · 2beef2e · 2beef2e
1 parent 807e5c6
commit 2beef2e
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -44,7 +44,11 @@
         not_prioritized:
           collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
           collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
-        keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
+        pass_judge:
+          judge_before_default_stop_line: false
+          keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
+          allow_overshoot_to_unprotected_area: true
+          tolerable_overshoot_to_unprotected_area: 0.5 # [m]
         use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
         minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity
         yield_on_green_traffic_light: