From aa20b6d6119ac60bb04faa586b89ca04e5021137 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 2 Oct 2023 00:06:48 +0900 Subject: [PATCH] feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 0c12624f3b..b50e5d64a5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -52,9 +52,11 @@ 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) ## param for yielding - disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal - disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal - timeout_no_intention_to_walk: 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. + disable_stop_for_yield_cancel: true # for the crosswalk where there is a traffic signal + disable_yield_for_new_stopped_object: true # for the crosswalk where there is a traffic signal + # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order + timeout_map_for_no_intention_to_walk: [3.0, 1.0] # [s] timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not # param for target object filtering