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fix(occlusion_spot): add lacking param #452

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Jul 18, 2023
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fix(occlusion_spot): add lacking param #452

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3 changes: 3 additions & 0 deletions ...anning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,12 @@
is_show_cv_window: false # [-] whether to show open_cv debug window
is_show_processing_time: false # [-] whether to show processing time
threshold:
detection_area_offset: 30.0
detection_area_length: 100.0 # [m] the length of path to consider perception range
stuck_vehicle_vel: 1.0 # [m/s] velocity below this value is assumed to stop
lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision
search_dist: 10.0
search_angle: 0.63 # [rad] PI/5.0
motion:
safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety
max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake.
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