tuning for shiojiri (#432)

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Sep 21, 2023 · c44c5e5 · c44c5e5
1 parent b06c5b0
commit c44c5e5
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 10.0
+    v_ratio: 4.5
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
@@ -44,7 +44,7 @@
         do_dp: true
         before_creep_stop_time: 0.1 # [s]
         min_vehicle_brake_for_rss: -2.5 # [m/s^2]
-        max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
+        max_vehicle_velocity_for_rss: 13.88 # [m/s] == 60kmph
         denoise_kernel: 1.0 # [m]
         possible_object_bbox: [1.5, 2.5] # [m x m]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h