From cd5b2f19dc380dceb24877a94d982b0611b67748 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 1 Feb 2024 14:59:24 +0900 Subject: [PATCH] fix(traffic_light): stop if the traffic light signal timed out (#727) (#571) Signed-off-by: Fumiya Watanabe Co-authored-by: Fumiya Watanabe --- .../behavior_velocity_planner/traffic_light.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index 5efd519fcb..6c6d66f5e7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -3,6 +3,7 @@ traffic_light: stop_margin: 0.5 tl_state_timeout: 1.0 + stop_time_hysteresis: 0.1 yellow_lamp_period: 2.75 enable_pass_judge: true enable_rtc: 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