From 6eede86057307271f284702a54c681bc78c393af Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 28 Sep 2023 13:24:05 +0900 Subject: [PATCH] feat(intersection): use planned velocity from upstream modules (#597) 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 aeb0424bc2..41e92a415c 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 @@ -36,6 +36,8 @@ keep_detection_vel_thr: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] + 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 occlusion: enable: true