continue

Signed-off-by: Yuki Takagi <[email protected]>

planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml

@@ -9,7 +9,7 @@
 
       # param for stop position
       stop_position:
-        stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding
+        stop_position_threshold: 1.0 # [m] If the ego vehicle has stopped near the stop line than this value, this module assumes itself to have achieved yielding.
 
         # For the Lanelet2 map with no explicit stop lines
         stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
@@ -18,21 +18,21 @@
         # For the case where the stop position is determined according to the object position.
         stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
-      # param for ego's slow down velocity
+      # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
         min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
         max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
         max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
         no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
 
-      # param for stuck vehicles
+      # params to prevent stopping on crosswalks due to other vehicles ahead
       stuck_vehicle:
-        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]
+        stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stucked or not.
+        max_stuck_vehicle_lateral_offset: 2.0 # [m] Vehicles closer than this value to the ego's path are handled by this feature.
+        stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk if a stuck vehicle is within this distance from the end of the crosswalk on the ego's path.
+        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:
@@ -45,9 +45,9 @@
 
         no_stop_decision:
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of 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]
+          min_acc: -1.0 # min acceleration [m/ss]
+          min_jerk: -1.0 # min jerk [m/sss]
+          max_jerk: 1.0 # max jerk [m/sss]
 
         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)