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feat(crosswalk)!: improve stuck prevention on crosswalk #816

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merged 2 commits into from
Jan 25, 2024
Merged

feat(crosswalk)!: improve stuck prevention on crosswalk #816

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d02cfb8
chande a param definition
yuki-takagi-66 Jan 22, 2024
2ad4966
upadate comment
yuki-takagi-66 Jan 23, 2024
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2 changes: 1 addition & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -30,7 +30,7 @@
enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle
min_acc: -1.0 # min acceleration [m/ss]
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]
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