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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 size `min_size` 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 within range of 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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The range is calculated from the intersection between the ego path and the crosswalk and is equal to the time taken by ego to reach the crosswalk times the `occluded_object_velocity`.
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This range is meant to be large when ego is far from the crosswalk and small when ego is close.
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In order to avoid flickering decisions, a time buffer can be used such that the decision to add (or remove) the slow down is only taken
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after an occlusion is detected (or not detected) for a consecutive time defined by the `time_buffer` parameter.
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To ignore occlusions when the pedestrian light is red, `ignore_with_red_traffic_light` should be set to true.
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To ignore temporary occlusions caused by moving objects,
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`ignore_behind_predicted_objects` should be set to true.
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By default, occlusions behind an object with velocity higher than `ignore_velocity_thresholds.default` are ignored.
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This velocity threshold can be specified depending on the object type by specifying the object class label and velocity threshold in the parameter lists `ignore_velocity_thresholds.custom_labels` and `ignore_velocity_thresholds.custom_thresholds`.
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To inflate the masking behind objects, their footprint can be made bigger using `extra_predicted_objects_size`.
|`enable`|[-]| bool | if true, ego will slow down around crosswalks that are occluded |
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|`occluded_object_velocity`|[m/s]| double | assumed velocity of objects that may come out of the occluded space |
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|`slow_down_velocity`|[m/s]| double | slow down velocity |
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|`time_buffer`|[s]| double | consecutive time with/without an occlusion to add/remove the slowdown |
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|`min_size`|[m]| double | minimum size of an occlusion (square side size) |
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|`free_space_max`|[-]| double | maximum value of a free space cell in the occupancy grid |
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|`occupied_min`|[-]| double | minimum value of an occupied cell in the occupancy grid |
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|`ignore_with_red_traffic_light`|[-]| bool | if true, occlusions at crosswalks with traffic lights are ignored |
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|`ignore_behind_predicted_objects`|[-]| bool | if true, occlusions behind predicted objects are ignored |
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|`ignore_velocity_thresholds.default`|[m/s]| double | occlusions are only ignored behind objects with a higher or equal velocity |
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|`ignore_velocity_thresholds.custom_labels`|[-]| string list | labels for which to define a non-default velocity threshold (see `autoware_auto_perception_msgs::msg::ObjectClassification` for all the labels) |
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|`ignore_velocity_thresholds.custom_thresholds`|[-]| double list | velocities of the custom labels |
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|`extra_predicted_objects_size`|[m]| double | extra size added to the objects for masking the occlusions |
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### Others
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In the `common` namespace, the following parameters are defined.
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