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feat(crosswalk): ignore predicted path going across the crosswalk #733

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merged 2 commits into from
Dec 15, 2023
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feat(crosswalk): ignore predicted path going across the crosswalk #733

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feat(crosswalk): ignore predicted path going across the crosswalk
soblin Dec 12, 2023
562f6ce
update value
soblin Dec 14, 2023
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1 change: 1 addition & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -63,6 +63,7 @@
# param for target object filtering
object_filtering:
crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
target_object:
unknown: true # [-] whether to look and stop by UNKNOWN objects
bicycle: true # [-] whether to look and stop by BICYCLE objects
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