feat(autoware_launch): dynamic timeout for no intention to walk decis…

…ion in crosswalk (#610) * feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk Signed-off-by: Takayuki Murooka <[email protected]> * update config Signed-off-by: Takayuki Murooka <[email protected]> * revert a parg of config Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Oct 3, 2023 · b951b51 · b951b51
1 parent dee409f
commit b951b51
Showing 1 changed file with 3 additions and 1 deletion.
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
@@ -54,7 +54,9 @@
         ## param for yielding
         disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
         disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
-        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.
+        # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
+        timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
         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