fix(intersection_module): remove decel parameter (#1188)

* fix(intersection_module): remove decel parameter Signed-off-by: 1222-takeshi <[email protected]> * remove unuse parameter Signed-off-by: 1222-takeshi <[email protected]>
autowarefoundation · Jun 30, 2022 · f82dfbc · f82dfbc
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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
@@ -2,7 +2,6 @@
   ros__parameters:
     intersection:
       state_transit_margin_time: 0.5
-      decel_velocity: 8.33 # 8.33m/s = 30.0km/h
       stop_line_margin: 3.0
       stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
       stuck_vehicle_ignore_dist: 7.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)

diff --git a/planning/behavior_velocity_planner/config/intersection.param.yaml b/planning/behavior_velocity_planner/config/intersection.param.yaml
@@ -2,7 +2,6 @@
   ros__parameters:
     intersection:
       state_transit_margin_time: 0.5
-      decel_velocity: 8.33 # 8.33m/s = 30.0km/h
       stop_line_margin: 3.0
       stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
       stuck_vehicle_ignore_dist: 7.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)

diff --git a/...vior_velocity_planner/include/scene_module/intersection/scene_merge_from_private_road.hpp b/...vior_velocity_planner/include/scene_module/intersection/scene_merge_from_private_road.hpp
@@ -99,7 +99,6 @@ class MergeFromPrivateRoadModule : public SceneModuleInterface
 public:
   struct PlannerParam
   {
-    double decel_velocity;
     double detection_area_length;
     double detection_area_right_margin;
     double detection_area_left_margin;

diff --git a/planning/behavior_velocity_planner/intersection-design.md b/planning/behavior_velocity_planner/intersection-design.md
@@ -86,7 +86,6 @@ If there is any object in a certain distance (default : 5[m]) from the end point
 | Parameter                                     | Type   | Description                                                                   |
 | --------------------------------------------- | ------ | ----------------------------------------------------------------------------- |
 | `intersection/state_transit_margin_time`      | double | [m] time margin to change state                                               |
-| `intersection/decel_velocity`                 | double | [m] deceleration velocity in intersection                                     |
 | `intersection/path_expand_width`              | bool   | [m] path area to see with expansion                                           |
 | `intersection/stop_line_margin`               | double | [m] margin before stop line                                                   |
 | `intersection/stuck_vehicle_detect_dist`      | double | [m] this should be the length between cars when they are stopped.             |