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add param
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Signed-off-by: Yuki Takagi <[email protected]>
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yuki-takagi-66 committed Sep 9, 2024
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Showing 1 changed file with 7 additions and 3 deletions.
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far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
# For the case where the stop position is determined according to the object position.
stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
stop_distance_from_object_preferd: 5.0 # [m]
stop_distance_from_object_limit: 2.5 # [m]
min_acc_prefered: -1.0 # min acceleration [m/ss]
min_jerk_prefered: -1.0 # min jerk [m/sss]

# params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
slow_down:
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no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
min_acc: -1.0 # min acceleration [m/ss]
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]
min_acc: -1.2 # min acceleration [m/ss]
min_jerk: -1.2 # min jerk [m/sss]
max_jerk: 1.2 # max jerk [m/sss]

stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
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