feat(intersection): yield initially on green light (#623)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
tier4 · Jun 25, 2024 · aaaff04 · aaaff04
1 parent b8cca00
commit aaaff04
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -78,6 +78,10 @@
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
         use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
         minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity
+        yield_on_green_traffic_light:
+          distance_to_assigned_lanelet_start: 10.0
+          duration: 3.0
+          range: 50.0 # [m]
 
       occlusion:
         enable: true