feat(intersection): use upstream velocity

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Sep 26, 2023 · 8ce80db · 8ce80db
1 parent 45f7e58
commit 8ce80db
Showing 1 changed file with 1 addition and 0 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
@@ -34,6 +34,7 @@
           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
+        use_upstream_velocity: false # flag to use the planned velocity profile from the upstream module
 
       occlusion:
         enable: false