Merge pull request autowarefoundation#706 from tier4/beta/v0.43.6.0_P…

…R597 feat(intersection): rectify initial accel/velocity profile in ego velocity profile (597)
sykwer · Nov 30, 2023 · 4cae510 · 4cae510
2 parents 8f6ca92 + a11ae59
commit 4cae510
Showing 1 changed file with 7 additions and 7 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
@@ -21,21 +21,21 @@
         timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area
 
       collision_detection:
-        state_transit_margin_time: 1.0
+        state_transit_margin_time: 0.5
         min_predicted_path_confidence: 0.05
         minimum_ego_predicted_velocity: 1.388 # [m/s]
         fully_prioritized:
           collision_start_margin_time: 2.0
           collision_end_margin_time: 0.0
         partially_prioritized:
-          collision_start_margin_time: 4.0
-          collision_end_margin_time: 6.0
+          collision_start_margin_time: 3.0
+          collision_end_margin_time: 2.0
         not_prioritized:
-          collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
-          collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+          collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+          collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
         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