Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(autoware_launch): add disable_stop_for_yield_cancel in crosswalk #449

Merged
merged 2 commits into from
Jul 14, 2023
Merged

feat(autoware_launch): add disable_stop_for_yield_cancel in crosswalk #449

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
31d9460
feat(autoware_launch): add disable_stop_for_yield_cancel in crosswalk
takayuki5168 Jul 12, 2023
0caee68
update
takayuki5168 Jul 13, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,13 @@
stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk

# param for pass judge logic
disable_stop_for_yield_cancel: false
ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
ego_yield_query_stop_duration: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not

# param for input data
tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
Expand Down