From a7d130fac116475ee3524ceccf3275f86c16dfdd Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 27 Jan 2025 19:25:08 +0900 Subject: [PATCH] docs(crosswalk): update ttc vs ttv docs (#10025) Signed-off-by: yuki-takagi-66 --- .../README.md | 13 +- .../docs/ttc_vs_ttv.drawio.svg | 519 +++++++++++------- 2 files changed, 332 insertions(+), 200 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md index 857f590104aea..52e8c5b2a24a9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md @@ -138,27 +138,24 @@ The decision is based on the following variables, along with the calculation of We classify ego behavior at crosswalks into three categories according to the relative relationship between TTC and TTV [1]. -- A. **TTC >> TTV**: The object has enough time to cross before the ego. +- A. **TTC >> TTV**: The object will pass early enough than the ego reach the collision point. - No stop planning. - B. **TTC ≒ TTV**: There is a risk of collision. - **Stop point is inserted in the ego's path**. -- C. **TTC << TTV**: Ego has enough time to cross before the object. +- C. **TTC << TTV**: The ego will pass early enough than the object reach the collision point. - No stop planning. +The following figure shows the decision result for each TTC and TTV with the parameters, `ego_pass_first_margin_x` is `{0}`, `ego_pass_first_margin_y` is `{4}`, `ego_pass_later_margin_x` is `{0}`, and `ego_pass_later_margin_y` is `{13}`. +
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-The boundary of A and B is interpolated from `ego_pass_later_margin_x` and `ego_pass_later_margin_y`. -In the case of the upper figure, `ego_pass_later_margin_x` is `{0, 1, 2}` and `ego_pass_later_margin_y` is `{1, 4, 6}`. -In the same way, the boundary of B and C is calculated from `ego_pass_first_margin_x` and `ego_pass_first_margin_y`. -In the case of the upper figure, `ego_pass_first_margin_x` is `{3, 5}` and `ego_pass_first_margin_y` is `{0, 1}`. - If the red signal is indicating to the corresponding crosswalk, the ego do not yield against the pedestrians.
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