[is_jam(1)&intersection_disL(10)]{
real:preference:Max_planning_speed=0.00
real:preference:Default_cruise_speed=0.00
real:trj:emergency_stop=1.0
}
[is_jam(0)&intersection_disL(50)]{
real:trj:vehicle_launch=1.0
}
[v_f_disL(5)]{
real:preference:Max_planning_speed=0.00
real:preference:Default_cruise_speed=0.00
real:trj:emergency_stop=1.0
}