tuning

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Oct 14, 2023 · 191dc7a · 191dc7a
1 parent 2beedf7
commit 191dc7a
Showing 1 changed file with 2 additions and 2 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
@@ -39,8 +39,8 @@
           collision_start_margin_time: 2.0
           collision_end_margin_time: 0.0
         partially_prioritized:
-          collision_start_margin_time: 2.0
-          collision_end_margin_time: 2.0
+          collision_start_margin_time: 4.0
+          collision_end_margin_time: 6.0
         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