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 9f2d082c7a..80017d85ff 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 @@ -1,42 +1,51 @@ /**: ros__parameters: crosswalk: - show_processing_time: false # [-] whether to show processing time + common: + show_processing_time: false # [-] whether to show processing time + # param for input data + traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal # param for stop position - stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists - stop_line_margin: 10.0 # [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_margin meters before the object) - stop_margin: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin - stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk + stop_position: + stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding - # param for ego velocity - min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph) - max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake - max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake - no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph) + # For the Lanelet2 map with no explicit stop lines + stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk + # For the case where the crosswalk width is very wide + far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). + # For the case where the stop position is determined according to the object position. + stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin - # param for stuck vehicle - stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck - max_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 + # param for ego's slow down velocity + slow_down: + min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph) + max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake + max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake + no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph) - # param for pass judge logic - disable_stop_for_yield_cancel: false - ego_pass_first_margin: 4.0 # [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: 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 + # param for stuck vehicles + stuck_vehicle: + 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 - # param for target area & object - crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk - target_object: - unknown: true # [-] whether to look and stop by UNKNOWN objects - bicycle: true # [-] whether to look and stop by BICYCLE objects - motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.) - pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects + # param for pass judge logic + pass_judge: + ego_pass_first_margin: 4.0 # [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) + ## param for yielding + disable_stop_for_yield_cancel: false + 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. + 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 + object_filtering: + crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk + target_object: + unknown: true # [-] whether to look and stop by UNKNOWN objects + bicycle: true # [-] whether to look and stop by BICYCLE objects + motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.) + pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml index 3ab28904cd..07f493edcd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: walkway: - stop_duration_sec: 0.1 # [s] stop time at stop position - stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists + stop_duration: 0.1 # [s] stop time at stop position + stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists