From 79242087daef573f618a63cf6e975907662d0d74 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 24 Sep 2023 22:14:06 +0900 Subject: [PATCH] update Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 8021b1479a..5f83b3565e 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 @@ -24,13 +24,13 @@ state_transit_margin_time: 1.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] - fully_protected: + fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 - partially_protected: + partially_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 2.0 - unprotected: + unprioritized: 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 keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr