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fix(crosswalk): don't stop in front of the crosswalk if vehicle stuck in intersection #714

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Nov 30, 2023
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fix(crosswalk): don't stop in front of the crosswalk if vehicle stuck in intersection #714

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1 change: 1 addition & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -27,6 +27,7 @@

# param for stuck vehicles
stuck_vehicle:
enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
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