From c8476cb130608f13809d0e34d9a6cf6695d76808 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 23 Aug 2024 17:07:57 +0900 Subject: [PATCH] =?UTF-8?q?intersection=E3=81=AE=E8=A1=9D=E7=AA=81?= =?UTF-8?q?=E6=A4=9C=E7=9F=A5=E3=82=92XX1=E3=81=AB=E6=8F=83=E3=81=88?= =?UTF-8?q?=E3=82=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 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 768a11de4b..73fbc12b65 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 @@ -70,15 +70,15 @@ collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 4.0 - collision_end_margin_time: 6.0 + collision_start_margin_time: 3.0 + collision_end_margin_time: 2.0 not_prioritized: - 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 + collision_start_margin_time: 3.0 + collision_end_margin_time: 2.0 yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 8.0 - object_dist_to_stopline: 10.0 # [m] + object_dist_to_stopline: 10.0 ignore_on_amber_traffic_light: object_expected_deceleration: car: 2.0