Detection area design

Detection Area

Role

If pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point.

Activation Timing

This module is activated when there is a detection area on the target lane.

Algorithm

1. Gets a detection area and stop line from map information and confirms if there is pointcloud in the detection area
2. Inserts stop point l[m] in front of the stop line
3. Inserts a pass judge point to a point where the vehicle can stop with a max deceleration
4. Sets velocity as zero behind the stop line when the ego-vehicle is in front of the pass judge point
5. If the ego vehicle has passed the pass judge point already, it doesn’t stop and pass through.

Module Parameters

Parameter	Type	Description
stop_margin	double	[m] a margin that the vehicle tries to stop before stop_line
use_dead_line	bool	[-] weather to use dead line or not
dead_line_margin	double	[m] ignore threshold that vehicle behind is collide with ego vehicle or not
use_pass_judge_line	bool	[-] weather to use pass judge line or not
state_clear_time	double	[s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state

Flowchart