From 2c08bc6586a81f13d1e08da8d70cfc4b255864c6 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 6 Oct 2023 22:14:40 +0900 Subject: [PATCH] feat(intersection): yield initially on green light (#623) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 ++++ 1 file changed, 4 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 e210d2fb21..a303b78af9 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 @@ -37,6 +37,10 @@ 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: false