feat(intersection): aggressively peek into attention area if traffic …

…light does not exist (autowarefoundation#611) Signed-off-by: Mamoru Sobue <[email protected]>
soblin · Oct 4, 2023 · 15d2840 · 15d2840
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commit 15d2840
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -49,6 +49,9 @@
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
         stop_release_margin_time: 1.5 # [s]
         temporal_stop_before_attention_area: false
+        absence_traffic_light:
+          creep_velocity: 1.388 # [m/s]
+          maximum_peeking_distance: 6.0 # [m]
 
       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