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Copy file name to clipboardexpand all lines: planning/behavior_velocity_crosswalk_module/README.md
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|`max_slow_down_accel`|[m/ss]| double | minimum accel deceleration for safe brake |
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|`no_relax_velocity`|[m/s]| double | if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
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### Occlusion
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This feature makes ego slow down for a crosswalk that is occluded.
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Occlusion of the crosswalk is determined using the occupancy grid.
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An occlusion is a square of occluded cells
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(i.e., their values are between `free_space_max` and `occupied_min`)
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of size `min_size`.
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If an occlusion is found on the crosswalk or in the areas where pedestrians can enter the crosswalk,
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then the velocity limit at the crosswalk is set to `slow_down_velocity` (or more to not break limits set by `max_slow_down_jerk` and `max_slow_down_accel`).
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If the pedestrian light is red, then the occlusion is ignored and ego does not slow down.
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