feat(crosswalk): change the TTC formula (autowarefoundation#6033)

* change params
* change the TTC formula

Signed-off-by: Yuki Takagi <[email protected]>

planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml

@@ -16,7 +16,7 @@
         # 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
+        stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -38,7 +38,7 @@
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-        ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
@@ -62,7 +62,7 @@
 
       # 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
+        crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
         vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
         target_object:
           unknown: true # [-] whether to look and stop by UNKNOWN objects

planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp

@@ -766,16 +766,19 @@ CollisionPoint CrosswalkModule::createCollisionPoint(
   const std::optional<double> object_crosswalk_passage_direction) const
 {
   constexpr double min_ego_velocity = 1.38;  // [m/s]
-  const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m;
 
   const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y);
   const auto velocity = std::max(planner_param_.min_object_velocity, estimated_velocity);
 
   CollisionPoint collision_point{};
   collision_point.collision_point = nearest_collision_point;
   collision_point.crosswalk_passage_direction = object_crosswalk_passage_direction;
+
+  // The decision of whether the ego vehicle or the pedestrian goes first is determined by the logic
+  // for ego_pass_first or yield; even the decision for ego_pass_later does not affect this sense.
+  // Hence, here, we use the length that would be appropriate for the ego_pass_first judge.
   collision_point.time_to_collision =
-    std::max(0.0, dist_ego2cp - planner_param_.stop_distance_from_object - base_link2front) /
+    std::max(0.0, dist_ego2cp - planner_data_->vehicle_info_.min_longitudinal_offset_m) /
     std::max(ego_vel.x, min_ego_velocity);
   collision_point.time_to_vehicle = std::max(0.0, dist_obj2cp) / velocity;