feat(intersection): ignore decelerating vehicle on amber traffic light

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Oct 14, 2023 · 2beedf7 · 2beedf7
1 parent 5b9dfdb
commit 2beedf7
Showing 1 changed file with 3 additions and 1 deletion.
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
@@ -50,7 +50,9 @@
         yield_on_green_traffic_light:
           distance_to_assigned_lanelet_start: 10.0
           duration: 3.0
-          range: 50.0 # [m]
+          object_dist_to_stopline: 10.0 # [m]
+        ignore_on_amber_traffic_light:
+          object_expected_deceleration: 2.0 # [m/ss]
 
       occlusion:
         enable: false