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intersection.param.yaml
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/**:
ros__parameters:
intersection:
common:
attention_area_length: 200.0
attention_area_margin: 0.75
attention_area_angle_threshold: 0.785
use_intersection_area: false
default_stopline_margin: 3.0
stopline_overshoot_margin: 0.5
path_interpolation_ds: 0.1
max_accel: -2.8
max_jerk: -5.0
delay_response_time: 0.5
enable_pass_judge_before_default_stopline: false
stuck_vehicle:
target_type:
car: true
bus: true
truck: true
trailer: true
motorcycle: false
bicycle: false
unknown: false
turn_direction:
left: true
right: true
straight: true
use_stuck_stopline: true
stuck_vehicle_detect_dist: 5.0
stuck_vehicle_velocity_threshold: 0.833
# enable_front_car_decel_prediction: false
# assumed_front_car_decel: 1.0
disable_against_private_lane: true
yield_stuck:
target_type:
car: true
bus: true
truck: true
trailer: true
motorcycle: false
bicycle: false
unknown: false
turn_direction:
left: true
right: true
straight: false
distance_threshold: 5.0
collision_detection:
consider_wrong_direction_vehicle: false
collision_detection_hold_time: 0.5
min_predicted_path_confidence: 0.05
target_type:
car: true
bus: true
truck: true
trailer: true
motorcycle: true
bicycle: true
unknown: false
velocity_profile:
use_upstream: true
minimum_upstream_velocity: 0.01
default_velocity: 2.778
minimum_default_velocity: 1.388
fully_prioritized:
collision_start_margin_time: 2.0
collision_end_margin_time: 0.0
partially_prioritized:
collision_start_margin_time: 3.0
collision_end_margin_time: 2.0
not_prioritized:
collision_start_margin_time: 3.0
collision_end_margin_time: 2.0
yield_on_green_traffic_light:
distance_to_assigned_lanelet_start: 10.0
duration: 3.0
object_dist_to_stopline: 10.0
ignore_on_amber_traffic_light:
object_expected_deceleration:
car: 2.0
bike: 5.0
ignore_on_red_traffic_light:
object_margin_to_path: 2.0
avoid_collision_by_acceleration:
object_time_margin_to_collision_point: 4.0
occlusion:
enable: false
occlusion_attention_area_length: 70.0
free_space_max: 43
occupied_min: 58
denoise_kernel: 1.0
attention_lane_crop_curvature_threshold: 0.25
attention_lane_curvature_calculation_ds: 0.5
creep_during_peeking:
enable: false
creep_velocity: 0.8333
peeking_offset: -0.5
occlusion_required_clearance_distance: 55.0
possible_object_bbox: [1.5, 2.5]
ignore_parked_vehicle_speed_threshold: 0.8333
occlusion_detection_hold_time: 1.5
temporal_stop_time_before_peeking: 0.1
temporal_stop_before_attention_area: false
creep_velocity_without_traffic_light: 1.388
static_occlusion_with_traffic_light_timeout: 0.5
debug:
ttc: [0]
enable_rtc:
intersection: false
intersection_to_occlusion: false
merge_from_private:
stopline_margin: 3.0
stop_duration_sec: 1.0
stop_distance_threshold: 1.0