From 9fca3358a7b5b253ba28ea72cfa4db177036264c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 15 Apr 2024 16:44:55 +0900 Subject: [PATCH] feat(intersection): relax ttc_end margin for vehicles inside the intersection for more quick start Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index c9ac6aa1a6..5a5d68e893 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -75,6 +75,7 @@ not_prioritized: collision_start_margin_time: 3.0 collision_end_margin_time: 2.0 + passthrough_distance_margin_for_preemptive_start: 10.0 yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 3.0