feat(blind_spot): consider time to collision (autowarefoundation#1002) (

autowarefoundation#862)

Signed-off-by: Mamoru Sobue <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml

@@ -3,10 +3,12 @@
  blind_spot:
  use_pass_judge_line: true
  stop_line_margin: 1.0 # [m]
- backward_length: 50.0 # [m]
- ignore_width_from_center_line: 0.0 # [m]
- max_future_movement_time: 10.0 # [second]
- threshold_yaw_diff: 0.523 # [rad]
+ backward_detection_length: 100.0 # [m]
+ ignore_width_from_center_line: 0.7 # [m]
  adjacent_extend_width: 1.5 # [m]
  opposite_adjacent_extend_width: 1.5 # [m]
- enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+ max_future_movement_time: 10.0 # [second]
+ ttc_min: -5.0 # [s]
+ ttc_max: 5.0 # [s]
+ ttc_ego_minimal_velocity: 5.0 # [m/s]
+ enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval