Skip to content

Commit

Permalink
Merge pull request #1094 from tier4/beta/v0.20.1+b51759f
Browse files Browse the repository at this point in the history
feat(crosswalk): change the TTC formula
  • Loading branch information
shmpwk authored Jan 17, 2024
2 parents c05b191 + 8c16ca1 commit b1f7188
Show file tree
Hide file tree
Showing 2 changed files with 8 additions and 5 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand All @@ -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)
Expand All @@ -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
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -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;

Expand Down

0 comments on commit b1f7188

Please sign in to comment.