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feat(behavior_velocity_crosswalk_module): merge with forward stop point if it's in front of crosswalk #620

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feat(behavior_velocity_crosswalk_module): merge with forward stop point if it's in front of crosswalk #620

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812a878
change launch order
kyoichi-sugahara Oct 2, 2023
83e26cd
max_ahead_longitudinal_margin
kyoichi-sugahara Oct 4, 2023
abe8187
change launch order
kyoichi-sugahara Oct 2, 2023
bb33c28
Merge branch 'main' into feat/insert_ahead_stop_point
kyoichi-sugahara Oct 4, 2023
ef04d76
change param
kyoichi-sugahara Oct 4, 2023
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2 changes: 1 addition & 1 deletion ..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,9 @@
delay_response_time: 0.5
is_publish_debug_path: false # publish all debug path with lane id in each module
launch_modules:
- behavior_velocity_planner::TrafficLightModulePlugin
- behavior_velocity_planner::CrosswalkModulePlugin
- behavior_velocity_planner::WalkwayModulePlugin
- behavior_velocity_planner::TrafficLightModulePlugin
- behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters.
- behavior_velocity_planner::MergeFromPrivateModulePlugin
- behavior_velocity_planner::BlindSpotModulePlugin
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2 changes: 2 additions & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -17,6 +17,8 @@
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
# If the ahead stop position is already inserted, use the same position for the new stop point.
max_ahead_longitudinal_margin: 5.0 # [m] specifies the margin between the current position and the stop point

# param for ego's slow down velocity
slow_down:
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