crosswalk_traffic_light_estimator#
Purpose#
crosswalk_traffic_light_estimator is a module that estimates pedestrian traffic signals from HDMap and detected vehicle traffic signals.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin |
vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute |
route |
~/input/classified/traffic_signals |
tier4_perception_msgs::msg::TrafficSignalArray |
classified signals |
Output#
| Name | Type | Description |
|---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
output that contains estimated pedestrian traffic signals |
Parameters#
| Name | Type | Description | Default value |
|---|---|---|---|
use_last_detect_color |
bool |
If this parameter is true, this module estimates pedestrian's traffic signal as RED not only when vehicle's traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian's traffic signal as UNKNOWN.) If this parameter is false, this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian's traffic signal as RED.) |
true |
last_detect_color_hold_time |
double |
The time threshold to hold for last detect color. | 2.0 |
Inner-workings / Algorithms#
If traffic between pedestrians and vehicles is controlled by traffic signals, the crosswalk traffic signal maybe RED in order to prevent pedestrian from crossing when the following conditions are satisfied.
Situation1#
- crosswalk conflicts STRAIGHT lanelet
- the lanelet refers GREEN or AMBER traffic signal (The following pictures show only GREEN case)
Situation2#
- crosswalk conflicts different turn direction lanelets (STRAIGHT and LEFT, LEFT and RIGHT, RIGHT and STRAIGHT)
- the lanelets refer GREEN or AMBER traffic signal (The following pictures show only GREEN case)
