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feat(crosswalk): disable slowdowns when the crosswalk is occluded #1232

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Nov 15, 2024
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feat(crosswalk): disable slowdowns when the crosswalk is occluded #1232

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2 changes: 1 addition & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -79,7 +79,7 @@

# param for occlusions
occlusion:
enable: true # if true, ego will slowdown around crosswalks that are occluded
enable: false # if true, ego will slowdown around crosswalks that are occluded
occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space
slow_down_velocity: 1.0 # [m/s]
time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown
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