feat(map based prediction, crosswalk)!: transplantation of pedestrian…

…s' behavior prediction against green signal (autowarefoundation#860) pedestrians' intention estimation feature against the green signal Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Feb 27, 2024 · 121ba5f · 121ba5f
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diff --git a/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -19,7 +19,12 @@
     use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
     speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
     acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
-    use_crosswalk_signal: true
+    crosswalk_with_signal:
+      use_crosswalk_signal: true
+      threshold_velocity_assumed_as_stopping: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped
+      # If the pedestrian does not move for X seconds against green signal, the module judge that the pedestrian has no intention to walk.
+      distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order, keys of map
+      timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 

diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -53,11 +53,10 @@
         stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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: true # for the crosswalks with traffic signal
         disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
         # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
-        distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
-        timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]
+        distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
+        timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # param for target object filtering