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chore: sync awf-latest #324

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Feb 22, 2024
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chore: sync awf-latest #324

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17 changes: 17 additions & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -68,3 +68,20 @@
bicycle: true # [-] whether to look and stop by BICYCLE objects
motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects

# param for occlusions
occlusion:
enable: true # if true, ego will slowdown around crosswalks that are occluded
occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
slow_down_velocity: 1.0 # [m/s]
time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown
min_size: 0.5 # [m] minimum size of an occlusion (square side size)
free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid
occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid
ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored
ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored
ignore_velocity_thresholds:
default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
custom_labels: ["PEDESTRIAN"] # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
custom_thresholds: [0.0] # velocities of the custom labels
extra_predicted_objects_size: 0.5 # [m] extra size added to the objects for masking the occlusions
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