From 5cba1dabfad5dbd6bdbbe446f90cd96db61f9da9 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 21:17:04 +0900 Subject: [PATCH] feat(intersection): ignore occlusion beyond high curvature point (#619) Signed-off-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 5e74e837bf..ccd3612203 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 @@ -57,6 +57,8 @@ absence_traffic_light: creep_velocity: 1.388 # [m/s] maximum_peeking_distance: 6.0 # [m] + attention_lane_crop_curvature_threshold: 0.25 + attention_lane_curvature_calculation_ds: 0.5 enable_rtc: intersection: true # 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