From 2dfb684c68ce2914460a915017471c718fc54090 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 10 Sep 2024 17:55:39 +0900 Subject: [PATCH] feat: add parameters for restart suppression in crosswalk (#1160) * feat: add parameters for restart suppression in crosswalk Signed-off-by: Takayuki Murooka * update parameter Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 5 +++++ 1 file changed, 5 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 ca1d211d1d..e5053f7cee 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 @@ -60,6 +60,11 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. + # params for suppressing the ego to restart when the ego is close to the next stop position. + restart_suppression: + min_distance_to_stop: 0.5 + max_distance_to_stop: 1.0 + # param for target object filtering object_filtering: crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk