From 19d30d4a681aa12cae72b23958279e286959b3ab Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 4 Feb 2025 15:16:21 +0900 Subject: [PATCH] feat(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light (#1322) Signed-off-by: tomoya.kimura --- .../behavior_velocity_planner/traffic_light.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index 23746a61b6..253fb69043 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -5,5 +5,6 @@ tl_state_timeout: 1.0 stop_time_hysteresis: 0.1 yellow_lamp_period: 2.75 + yellow_light_stop_velocity: 1.0 # Velocity threshold (m/s) below which the vehicle will always stop before the traffic light when the signal turns yellow, regardless of the pass_judge decision. enable_pass_judge: true enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval