From 1fc80b3e38b9d38d457821790600e2c65d0d9afa Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 15:54:15 +0900 Subject: [PATCH 1/2] feat(intersection): ignore occlusion beyond high curvature point 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..8514fa53c5 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_calcluation_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 From 04b5c01773f2f588d2c53ddcbae7b3bca2be5b78 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 20:33:21 +0900 Subject: [PATCH 2/2] fix spell Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 8514fa53c5..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 @@ -58,7 +58,7 @@ creep_velocity: 1.388 # [m/s] maximum_peeking_distance: 6.0 # [m] attention_lane_crop_curvature_threshold: 0.25 - attention_lane_curvature_calcluation_ds: 0.5 + 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