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feat(autoware_launch): add no stop decision parameters in crosswalk #537

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Aug 30, 2023
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feat(autoware_launch): add no stop decision parameters in crosswalk #537

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8 changes: 7 additions & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -42,7 +42,13 @@
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: [10.0] # [[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)
ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
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.

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]

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)
## param for yielding
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