From 50175784389ea1d3bb4fc31269d363a5ddbb5d21 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon, 25 Sep 2023 23:31:33 +0900
Subject: [PATCH] feat(intersection): ensure-temporal-stop-before-upcoming-lane
 (#578)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../behavior_velocity_planner/intersection.param.yaml            | 1 +
 1 file changed, 1 insertion(+)

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 5b626ec19d..a932254140 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
@@ -51,6 +51,7 @@
         possible_object_bbox: [1.5, 2.5] # [m x m]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
         stop_release_margin_time: 1.5 # [s]
+        temporal_stop_before_attention_area: false
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval