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added description in stuck vehicle detection section
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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soblin committed Jul 7, 2022
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33 changes: 18 additions & 15 deletions planning/behavior_velocity_planner/intersection-design.md
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Expand Up @@ -81,23 +81,26 @@ To prevent going over the pass judge line before the traffic light stop line, th

If there is any object in a certain distance (default : 5[m]) from the end point of the intersection lane on the driving lane and the object velocity is less than a threshold (default 3.0[km/h]), the object is regarded as a stuck vehicle. If the stuck vehicle exists, the ego vehicle cannot enter the intersection.

As a related case, if the object in front of the ego vehicle is turning the same direction, this module predicts the stopping point that the object will reach at a certain deceleration (default: -1.0[m/s^2]). If the predicted position is in stuck vehicle detection area AND the position which `vehicle length` [m] behind the predicted position is in detection area, the ego vehicle will also stop.

### Module Parameters

| Parameter | Type | Description |
| --------------------------------------------- | ------ | ----------------------------------------------------------------------------- |
| `intersection/state_transit_margin_time` | double | [m] time margin to change state |
| `intersection/path_expand_width` | bool | [m] path area to see with expansion |
| `intersection/stop_line_margin` | double | [m] margin before stop line |
| `intersection/stuck_vehicle_detect_dist` | double | [m] this should be the length between cars when they are stopped. |
| `intersection/stuck_vehicle_ignore_dist` | double | [m] obstacle stop max distance(5.0[m]) + stuck vehicle size / 2.0[m]) |
| `intersection/stuck_vehicle_vel_thr` | double | [m/s] velocity below 3[km/h] is ignored by default |
| `intersection/intersection_velocity` | double | [m/s] velocity to pass intersection. 10[km/h] is by default |
| `intersection/intersection_max_accel` | double | [m/s^2] acceleration in intersection |
| `intersection/detection_area_margin` | double | [m] range for expanding detection area |
| `intersection/detection_area_length` | double | [m] range for lidar detection 200[m] is by default |
| `intersection/detection_area_angle_threshold` | double | [rad] threshold of angle difference between the detection object and lane |
| `intersection/min_predicted_path_confidence` | double | [-] minimum confidence value of predicted path to use for collision detection |
| `merge_from_private_road/stop_duration_sec` | double | [s] duration to stop |
| Parameter | Type | Description |
| --------------------------------------------- | ------ | ---------------------------------------------------------------------------------------------- |
| `intersection/state_transit_margin_time` | double | [m] time margin to change state |
| `intersection/path_expand_width` | bool | [m] path area to see with expansion |
| `intersection/stop_line_margin` | double | [m] margin before stop line |
| `intersection/stuck_vehicle_detect_dist` | double | [m] this should be the length between cars when they are stopped. |
| `intersection/stuck_vehicle_ignore_dist` | double | [m] obstacle stop max distance(5.0[m]) + stuck vehicle size / 2.0[m]) |
| `intersection/stuck_vehicle_vel_thr` | double | [m/s] velocity below 3[km/h] is ignored by default |
| `intersection/intersection_velocity` | double | [m/s] velocity to pass intersection. 10[km/h] is by default |
| `intersection/intersection_max_accel` | double | [m/s^2] acceleration in intersection |
| `intersection/detection_area_margin` | double | [m] range for expanding detection area |
| `intersection/detection_area_length` | double | [m] range for lidar detection 200[m] is by default |
| `intersection/detection_area_angle_threshold` | double | [rad] threshold of angle difference between the detection object and lane |
| `intersection/min_predicted_path_confidence` | double | [-] minimum confidence value of predicted path to use for collision detection |
| `merge_from_private_road/stop_duration_sec` | double | [s] duration to stop |
| `assumed_front_car_decel: 1.0` | double | [m/s^2] deceleration of front car used to check if it could stop in the stuck area at the exit |

### How To Tune Parameters

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