From a28af1b01bcba9bdbdfc85afe87e0ac9b7ba99fe Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 8 Dec 2023 09:34:59 +0900 Subject: [PATCH] feat(intersection): check path margin for overshoot vehicles on redight (#654) (#555) feat(intersection): check path margin for overshoot vehicles on red light (#654) Co-authored-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 e905b89630..480c0f0f8a 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 @@ -84,6 +84,8 @@ object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] + ignore_on_red_traffic_light: + object_margin_to_path: 2.0 occlusion: enable: true