feat(run_out): speed up run out response #1163
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Sep 27, 2024
speed up run out response Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Description
This PR changes some default parameters for the run out module to make it more responsive.
Details on changed params:
time_threshold : This parameter makes it so the run_out module does NOT issue a stop wall unless it detects a collision with a pedestrian/bicycle for more than time_threshold seconds, currently this parameter is set to 0.5 seconds, which is too long in my opinion, I would like to reduce this value to 0.15 seconds (I would also like to know how the ego behaves if this feature is disabled by setting the ignore_momentary_detection.enable parameter to false). I believe the reason for increasing the value in the first case was to reduce the occurrence of unwanted run out activation, but I believe the module has improved enough for this parameter to be returned to 0.15 seconds (or maybe disable the feature altogether).
max_prediction_time: This parameter sets the time horizon for pedestrian path prediction. Currently it is set at 3 seconds which I believe its low, specially for pedestrians near the ego vehicle. I believe this parameter should be tuned to around ~7 seconds, but I would like the XX1 team support.
keep_stop_point_time: Increased to 2 seconds to maintain the run out stop wall a little longer.
Tests performed
PSim
example
cap-.2024-09-11-15-17-40.mp4
Degradation tests:
TIER IV INTERNAL LINK
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
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