feat(behavior_velocity_planner::intersection): add parameter for occl…

…usion peeking offset (#320) Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Apr 25, 2023 · 0e69e4a · 0e69e4a
1 parent 0f4ba5e
commit 0e69e4a
Showing 1 changed file with 1 addition 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
@@ -33,6 +33,7 @@
         occlusion_detection_area_length: 70.0 # [m]
         enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
         occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
+        peeking_offset: -0.1 # [m] offset for peeking into detection area
         free_space_max: 43
         occupied_min: 58
         do_dp: true