behavior for tl_arrow_solid_on

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · Jul 18, 2023 · ac342a7 · ac342a7
1 parent 2796d0a
commit ac342a7
Showing 1 changed file with 7 additions and 2 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
@@ -25,8 +25,13 @@
         state_transit_margin_time: 1.0
         min_predicted_path_confidence: 0.05
         minimum_ego_predicted_velocity: 1.388 # [m/s]
-        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
+        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:
+          state_transit_margin_time: 1.0
+          collision_start_margin_time: 2.0
+          collision_end_margin_time: 0.0
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
 
       occlusion: