chore(autoware_launch): tune intersection parameters (#323)

Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Apr 25, 2023 · 362cbcc · 362cbcc
1 parent e419650
commit 362cbcc
Showing 1 changed file with 2 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
@@ -33,11 +33,11 @@
         occlusion_detection_area_length: 70.0 # [m]
         enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
         occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
-        peeking_offset: -0.1 # [m] offset for peeking into detection area
+        peeking_offset: -0.5 # [m] offset for peeking into detection area
         free_space_max: 43
         occupied_min: 58
         do_dp: true
-        before_creep_stop_time: 1.0 # [s]
+        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