From 03cee4358b606b0934f7cd352786886eaad05284 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 1 Aug 2023 10:13:04 +0900 Subject: [PATCH] feat(autoware_launch): add acc/jerk parameters for stuck vehicle detection in crosswalk (#487) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index a6b0570c71..277381c283 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -30,6 +30,9 @@ stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk + min_acc: -1.0 # min acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] # param for pass judge logic pass_judge: