From ecc845580864888c8666f88d2bf9f2340aea7a7d Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 11 Jan 2024 07:11:57 +0900 Subject: [PATCH] feat(intersection): consider 1st/2nd pass judge line Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 4e9eb50f2a..e15ae1a6f1 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 @@ -7,6 +7,7 @@ attention_area_angle_threshold: 0.785 use_intersection_area: false default_stopline_margin: 3.0 + second_pass_judge_line_margin: 2.0 stopline_overshoot_margin: 0.5 path_interpolation_ds: 0.1 max_accel: -2.8 @@ -36,7 +37,6 @@ consider_wrong_direction_vehicle: false collision_detection_hold_time: 0.5 min_predicted_path_confidence: 0.05 - keep_detection_velocity_threshold: 0.833 velocity_profile: use_upstream: true minimum_upstream_velocity: 0.01