refactor(behavior_velocity_planner): removed external input from beha…

…vior_velocity (#296) removed external input from behavior_velocity Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Apr 14, 2023 · d4eda8d · d4eda8d
1 parent 6b97c8c
commit d4eda8d
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Showing 3 changed files with 1 addition and 8 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -29,7 +29,6 @@
       ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
-      external_input_timeout: 1.0
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for target area & object
@@ -43,4 +42,3 @@
     walkway:
       stop_duration_sec: 1.0 # [s] stop time at stop position
       stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
-      external_input_timeout: 1.0
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
@@ -22,10 +22,6 @@
       assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
       enable_front_car_decel_prediction: false # By default this feature is disabled
       stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
-      external_input_timeout: 1.0
 
-    merge_from_private_road:
-      stop_duration_sec: 1.0
     merge_from_private:
-      merge_from_private_area:
-        stop_duration_sec: 1.0
+      stop_duration_sec: 1.0
diff --git a/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -3,6 +3,5 @@
     traffic_light:
       stop_margin: 0.0
       tl_state_timeout: 1.0
-      external_tl_state_timeout: 1.0
       yellow_lamp_period: 2.75
       enable_pass_judge: true