From 0dcbabf8420aa7a5f4b69dbba79911c65688220f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Aug 2023 17:43:48 +0900 Subject: [PATCH 1/2] feat(intersection): strict definition of stuck vehicle detection area (#532) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index cd5b067376..e52aaa77d5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -14,8 +14,7 @@ consider_wrong_direction_vehicle: false stuck_vehicle: use_stuck_stopline: true # stopline generated before the first conflicting area - stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. - stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) + stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h # enable_front_car_decel_prediction: false # By default this feature is disabled # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning From 319d6f421f9f45b803fa7df04043c6a79c5ea24e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Aug 2023 15:39:01 +0900 Subject: [PATCH 2/2] feat(intersection): suppress intersection occlusion chattering (#533) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index e52aaa77d5..9ee8afe82a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -47,6 +47,7 @@ denoise_kernel: 1.0 # [m] possible_object_bbox: [1.5, 2.5] # [m x m] ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h + stop_release_margin_time: 1.5 # [s] enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval