From d198fcd1404c557f5d4ab481721d1ef088a061c2 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 18 Jul 2023 20:27:14 +0900 Subject: [PATCH] feat(intersection): add behavior for arrow signal (#456) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) 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 c2acf96a2d..fc002b6ae8 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 @@ -24,8 +24,12 @@ state_transit_margin_time: 1.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] - 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 + normal: + 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 + relaxed: + collision_start_margin_time: 2.0 + collision_end_margin_time: 0.0 keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: