feat: add parameter for holding last detected traffic-signal color #3874
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Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3874 +/- ##
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- Coverage 14.11% 14.11% -0.01%
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Files 1444 1444
Lines 101928 101933 +5
Branches 27197 27197
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Hits 14387 14387
- Misses 71774 71779 +5
Partials 15767 15767
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@satoshi-ota Could you review this? |
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Jun 3, 2023
…utowarefoundation#3874) * feat: add parameter for holding last detected traffic-signal color Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: apply pre-commit Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Description
The crosswalk module in behavior_velocity uses the pedestrian signal color estimated by crosswalk_traffic_light_estimator.
In the current implementation, the signal for vehicular traffic may be out of the angle of view of the camera and the pedestrian signal becomes not to be estimated before passing the crosswalk, and it causes a sudden stop at the crosswalk.
This PR improves the above issue by holding the traffic signal color for a short time.
Screencast.from.2023.05.26.13.45.16.webm
Related links
Tests performed
I tested using rosbag.
Notes for reviewers
none
Interface changes
none
Effects on system behavior
The issue of sudden stops at crosswalks will be improved
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