From edb95580791a65456f26d672cfc85af4d695c1eb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 30 Jul 2024 19:52:15 +0900 Subject: [PATCH] feat(crosswalk): more conservative when the ego pass first (#1085) * feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka * feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka * feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka * feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka * feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka * enable intersection_occlusion detection Signed-off-by: Mamoru Sobue * chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota * disable AEB diag check Signed-off-by: Daniel Sanchez * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe * feat(api): set launch_deprecated_api true (#496) feat(api): launch_deprecated_api=true Signed-off-by: kosuke55 * fix(api): disable rosbridge to fix duplicated node (#497) Signed-off-by: kosuke55 * feat(crosswalk): more conservative when the ego pass first Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka Signed-off-by: Mamoru Sobue Signed-off-by: satoshi-ota Signed-off-by: Daniel Sanchez Signed-off-by: Takamasa Horibe Signed-off-by: kosuke55 Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Mamoru Sobue Co-authored-by: Mamoru Sobue Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Daniel Sanchez Co-authored-by: danielsanchezaran Co-authored-by: Takamasa Horibe Co-authored-by: Kosuke Takeuchi --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 f7cf23e015..ca1d211d1d 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 @@ -38,7 +38,7 @@ # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles pass_judge: ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) - ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_first_margin_y: [4.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)