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On the other hand, if pedestrian (bicycle) is crossing **wide** crosswalks seen in scramble intersections, and the pedestrian position is more than `far_object_threshold` meters away from the stop line, the actual stop position is determined to be `stop_distance_from_object` and pedestrian position, not at the stop line.
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-#### Parameters for pass judge logic
+The boundary of A and B is interpolated from `ego_pass_later_margin_x` and `ego_pass_later_margin_y`. In the case of the upper figure, `ego_pass_later_margin_x` is `{0, 1, 2}` and `ego_pass_later_margin_y` is `{1, 4, 6}` for example.
+The same way, the boundary of B and C is calculated from `ego_pass_first_margin_x` and `ego_pass_first_margin_y`. In the case of the upper figure, `ego_pass_first_margin_x` is `{3, 5}` and `ego_pass_first_margin_y` is `{0, 1}` for example.
-Also see algorithm section.
+In the `pass_judge` namespace,
-| Parameter | Type | Description |
-| ------------------------------------------- | ------ | -------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `pass_judge.ego_pass_first_margin` | double | [s] time margin for ego pass first situation |
-| `pass_judge.ego_pass_later_margin` | double | [s] time margin for object pass first situation |
-| `pass_judge.stop_object_velocity_threshold` | double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
-| `pass_judge.min_object_velocity` | double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
-| `pass_judge.timeout_no_intention_to_walk` | double | [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. |
-| `pass_judge.timeout_ego_stop_for_yield` | double | [s] the amount of time which ego should be stopping to query whether it yields or not. |
+| Parameter | | Type | Description |
+| ---------------------------------- | ----- | ------ | ----------------------------------------------------------------------------------------------------------------------------------------------- |
+| `ego_pass_first_margin_x` | [[s]] | double | 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` | [[s]] | double | 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` | [s] | double | additional time margin for ego pass first situation to suppress chattering |
+| `ego_pass_later_margin_x` | [[s]] | double | 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` | [[s]] | double | 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) |
+| `ego_pass_later_additional_margin` | [s] | double | additional time margin for object pass first situation to suppress chattering |
-#### Parameters for object filtering
+### Smooth Yield Decision
-As a countermeasure against pedestrians attempting to cross outside the crosswalk area, this module watches not only the crosswalk zebra area but also in front of and behind space of the crosswalk, and if there are pedestrians or bicycles attempting to pass through the watch area, this module judges whether ego should pass or stop.
+When the object is stopped around the crosswalk but has no intention to walk, the ego will yield the object forever.
+To prevent this dead lock behavior, the ego will cancel the yield depending on the situation.
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-#### Dead lock prevention
+#### New Object Handling
-If there are objects stop within a radius of `min_object_velocity * ego_pass_later_margin` meters from virtual collision point, this module judges that ego should stop based on the pass judge logic described above at all times. In such a situation, even if the pedestrian has no intention of crossing, ego continues the stop decision on the spot. So, this module has another logic for dead lock prevention, and if the object continues to stop for more than `timeout_no_intention_to_walk` seconds after ego stops in front of the crosswalk, this module judges that the object has no intention of crossing and switches from **STOP** state to **PASS** state. The parameter `stop_object_velocity_threshold` is used to judge whether the objects are stopped or not. In addition, if the object starts to move after the module judges that the object has no intention of crossing, this module judges whether ego should stop or not once again.
+Due to the perception's limited performance where the tree or poll is recognized as a pedestrian or the tracking failure in the crowd or occlusion, even if the surrounding environment does not change, the new pedestrian (= the new ID's pedestrian) may suddenly appear unexpectedly.
+When this happens when the ego is going to pass the crosswalk, the ego will stop suddenly.
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