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feat(autoware_launch): add traffic protected level for amber color in intersection #588

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Sep 25, 2023
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feat(autoware_launch): add traffic protected level for amber color in intersection #588

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feat(autoware_launch): add traffic protected level for amber color in…
takayuki5168 Sep 24, 2023
7924208
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takayuki5168 Sep 24, 2023
dc4b473
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takayuki5168 Sep 24, 2023
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11 changes: 7 additions & 4 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -24,12 +24,15 @@
state_transit_margin_time: 1.0
min_predicted_path_confidence: 0.05
minimum_ego_predicted_velocity: 1.388 # [m/s]
normal:
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
relaxed:
fully_prioritized:
collision_start_margin_time: 2.0
collision_end_margin_time: 0.0
partially_prioritized:
collision_start_margin_time: 2.0
collision_end_margin_time: 2.0
not_prioritized:
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

occlusion:
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