feat: add parameters for restart suppression in crosswalk (#1160)

* feat: add parameters for restart suppression in crosswalk Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update parameter Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Sep 10, 2024 · 2dfb684 · 2dfb684
1 parent 63dbbea
commit 2dfb684
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -60,6 +60,11 @@
         timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
+      # params for suppressing the ego to restart when the ego is close to the next stop position.
+      restart_suppression:
+        min_distance_to_stop: 0.5
+        max_distance_to_stop: 1.0
+
       # param for target object filtering
       object_filtering:
         crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk