feat(intersection): force stop if approached collision stop line

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Oct 27, 2023 · f656ba1 · f656ba1
1 parent 262a774
commit f656ba1
Showing 1 changed file with 3 additions and 0 deletions.
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
@@ -58,6 +58,9 @@
           object_expected_deceleration: 2.0 # [m/ss]
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
+        force_stop: # insert zero velocity to entire path points when approached stop line
+          enable: false
+          distance_margin_to_stop_line: 0.5 # [m]
 
       occlusion:
         enable: false