From 68426e5658ba985f29e1dbf81978a39be3b0ee10 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 15 Nov 2024 11:46:09 +0900 Subject: [PATCH] feat(crosswalk): disable slowdowns when the crosswalk is occluded (#1232) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 5a0757401b..05a2658c28 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -79,7 +79,7 @@ # param for occlusions occlusion: - enable: true # if true, ego will slowdown around crosswalks that are occluded + enable: false # if true, ego will slowdown around crosswalks that are occluded occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown