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feat(behavior_velocity_planner::blind_spot): consider adjacent lane #267

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Apr 5, 2023
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feat(behavior_velocity_planner::blind_spot): consider adjacent lane #267

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3 changes: 2 additions & 1 deletion ...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
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Expand Up @@ -3,7 +3,8 @@
blind_spot:
use_pass_judge_line: true
stop_line_margin: 1.0 # [m]
backward_length: 15.0 # [m]
backward_length: 50.0 # [m]
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@soblin
Could you tell me the reason of this chage?

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@soblin soblin Apr 3, 2023 •
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If this value is 15m, ego vehicle will detect collision with a bike only when (1) ego is within 15m from the stop line and (2) the bike is within 15m from the stop line and behind ego.
So ego vehicle need to completely stop while travelling less than 15m, at least 0.24G deceleration is required if its speed was 30kmph.
Maybe I should decide this value using pass judge length.

ignore_width_from_center_line: 0.7 # [m]
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]