feat(intersection): improve ego velocity prediction in collision dete…

…ction (autowarefoundation#181)


Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -1,10 +1,8 @@
 /**:
   ros__parameters:
     intersection:
-      state_transit_margin_time: 0.5
+      state_transit_margin_time: 1.0
       stop_line_margin: 3.0
-      keep_detection_line_margin: 1.0 # distance (toward path end) from generated stop line. keep detection if ego is before this line and ego.vel < keep_detection_vel_thr
-      keep_detection_vel_thr: 0.833 # == 3.0km/h
       stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
       stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
       stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
@@ -16,8 +14,9 @@
       detection_area_length: 200.0 # [m]
       detection_area_angle_threshold: 0.785 # [rad]
       min_predicted_path_confidence: 0.05
-      collision_start_margin_time: 5.0 # [s]
-      collision_end_margin_time: 2.0 # [s]
+      minimum_ego_predicted_velocity: 1.388 # [m/s]
+      collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+      collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
       use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
       assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
       enable_front_car_decel_prediction: false # By default this feature is disabled