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feat: make crosswalk decision more aggressive towards the real world's driving #762

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Dec 27, 2023
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feat: make crosswalk decision more aggressive towards the real world's driving #762

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4 changes: 2 additions & 2 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -53,8 +53,8 @@
stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 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: false # for the crosswalks with traffic signal
disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
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: [3.0, 0.0] # [s]
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