intersection.param.yaml

/**:
  ros__parameters:
    intersection:
      state_transit_margin_time: 1.0
      stop_line_margin: 3.0
      keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
      stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
      stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
      stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
      intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
      intersection_max_accel: 0.5 # m/ss
      detection_area_margin: 0.5 # [m]
      detection_area_right_margin: 0.5 # [m]
      detection_area_left_margin: 0.5 # [m]
      detection_area_length: 200.0 # [m]
      detection_area_angle_threshold: 0.785 # [rad]
      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
      use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
      assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
      enable_front_car_decel_prediction: false # By default this feature is disabled
      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection

    merge_from_private:
      stop_duration_sec: 1.0