From 0e69e4a9c8873c3d71dea7c836bc7a67805c88b4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 25 Apr 2023 17:25:13 +0900 Subject: [PATCH] feat(behavior_velocity_planner::intersection): add parameter for occlusion peeking offset (#320) 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 b40c01ad3f..ec41bed354 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 @@ -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