Merge from private design

Merge From Private

Role

When an ego vehicle enters a public road from a private road (e.g. a parking lot), it needs to face and stop before entering the public road to make sure it is safe.

This module is activated when there is an intersection at the location where the vehicle enters the public road from the private road. The basic behavior is the same as the intersection module, but the ego vehicle must stop once at the stop line.

Activation Timing

This module is activated when the following conditions are met:

• ego-lane has a private tag
• ego-lane has a conflict with other no-private lanelets

Module Parameters

Parameter	Type	Description
merge_from_private_road/stop_duration_sec	double	[m] time margin to change state

Known Issue

If ego vehicle go over the stop line for a certain distance, then ego vehicle will not transit from STOP.