feat(intersection): tune param for smooth passing

Signed-off-by: Mamoru Sobue <[email protected]>
sykwer · Nov 30, 2023 · e3d7e70 · e3d7e70
1 parent 2ea5274
commit e3d7e70
Showing 1 changed file with 3 additions and 3 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
@@ -29,10 +29,10 @@
           collision_end_margin_time: 0.0
         partially_prioritized:
           collision_start_margin_time: 4.0
-          collision_end_margin_time: 6.0
+          collision_end_margin_time: 3.0
         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_end_margin_time: 3.0 # [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]
@@ -42,7 +42,7 @@
         occlusion_attention_area_length: 70.0 # [m]
         enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
         occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
-        peeking_offset: 1.0 # [m] offset for peeking into detection area
+        peeking_offset: 0.5 # [m] offset for peeking into detection area
         free_space_max: 43
         occupied_min: 58
         do_dp: true