From a21a61dac3a02e62bbe5a25f44ac1f36984eedad Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 14:04:52 +0900 Subject: [PATCH] feat(autoware_launch): add traffic protected level for amber color in intersection (#588) * feat(autoware_launch): add traffic protected level for amber color in intersection Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../intersection.param.yaml | 21 ++++++------------- 1 file changed, 6 insertions(+), 15 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 fa1ed0dac0..42c0155725 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 @@ -70,23 +70,14 @@ collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 3.0 + collision_start_margin_time: 2.0 collision_end_margin_time: 2.0 not_prioritized: - 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: 3.0 - object_dist_to_stopline: 10.0 - ignore_on_amber_traffic_light: - object_expected_deceleration: - car: 2.0 - bike: 5.0 - ignore_on_red_traffic_light: - object_margin_to_path: 2.0 - avoid_collision_by_acceleration: - object_time_margin_to_collision_point: 4.0 + 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 + 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 occlusion: enable: true