crosswalk_traffic_light_estimator
Purpose
crosswalk_traffic_light_estimator
is a module that estimates pedestrian traffic signals from HDMap and detected vehicle traffic signals.
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
![uml diagram](data:image/svg+xml;base64,<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentStyleType="text/css" height="730px" preserveAspectRatio="none" style="width:1322px;height:730px;background:#FFFFFF;" version="1.1" viewBox="0 0 1322 730" width="1322px" zoomAndPan="magnify"><defs/><g><ellipse cx="665.9165" cy="20" fill="#222222" rx="10" ry="10" style="stroke:#222222;stroke-width:1.0;"/><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="280.1211" x="525.856" y="50"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="260.1211" x="535.856" y="71.1387">subscribe detected traffic signals &amp; HDMap</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="255.9922" x="537.9204" y="103.9688"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="235.9922" x="547.9204" y="125.1074">extract crosswalk lanelets from HDMap</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="289.6367" x="521.0981" y="157.9375"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="269.6367" x="531.0981" y="179.0762">extract road lanelets that conflicts crosswalk</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="319.1973" x="506.3179" y="211.9063"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="299.1973" x="516.3179" y="233.0449">initialize non_red_lanelets(lanelet::ConstLanelets)</text><polygon fill="#F1F1F1" points="541.0547,265.875,790.7783,265.875,802.7783,277.875,790.7783,289.875,541.0547,289.875,529.0547,277.875,541.0547,265.875" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="136.5815" x="541.0547" y="281.6831">Latest detection result is</text><text fill="#000000" font-family="sans-serif" font-size="11" font-weight="bold" lengthAdjust="spacing" textLength="41.7334" x="681.1328" y="281.6831">GREEN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="11.2524" x="726.3628" y="281.6831">or</text><text fill="#000000" font-family="sans-serif" font-size="11" font-weight="bold" lengthAdjust="spacing" textLength="43.8281" x="741.1118" y="281.6831">AMBER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="5.8384" x="784.9399" y="281.6831">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" x="510.0464" y="275.2808">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="13.7017" x="802.7783" y="275.2808">no</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="187.0625" x="387.1458" y="299.875"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="167.0625" x="397.1458" y="321.0137">push back non_red_lanelets</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="187.0625" x="757.6248" y="396.6797"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="167.0625" x="767.6248" y="417.8184">push back non_red_lanelets</text><polygon fill="#F1F1F1" points="616.2083,348.2773,1086.1038,348.2773,1098.1038,360.2773,1086.1038,372.2773,616.2083,372.2773,604.2083,360.2773,616.2083,348.2773" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" x="855.156" y="382.4878">yes</text><text 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font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="5.8384" x="1080.2654" y="364.0854">?</text><polygon fill="#F1F1F1" points="851.156,450.6484,863.156,462.6484,851.156,474.6484,839.156,462.6484,851.156,450.6484" style="stroke:#181818;stroke-width:0.5;"/><polygon fill="#F1F1F1" points="768.3149,299.875,933.9971,299.875,945.9971,311.875,933.9971,323.875,768.3149,323.875,756.3149,311.875,768.3149,299.875" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" x="855.156" y="334.0854">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="130.3726" x="768.3149" y="315.6831">use_last_detect_color is</text><text fill="#000000" font-family="sans-serif" font-size="11" font-weight="bold" lengthAdjust="spacing" textLength="25.9746" x="902.1841" y="315.6831">true</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="5.8384" x="928.1587" y="315.6831">?</text><polygon fill="#F1F1F1" points="851.156,494.6484,863.156,506.6484,851.156,518.6484,839.156,506.6484,851.156,494.6484" style="stroke:#181818;stroke-width:0.5;"/><polygon fill="#F1F1F1" points="665.9165,524.6484,677.9165,536.6484,665.9165,548.6484,653.9165,536.6484,665.9165,524.6484" style="stroke:#181818;stroke-width:0.5;"/><polygon fill="#F1F1F1" points="32,568.6484,387.4106,568.6484,399.4106,580.6484,387.4106,592.6484,32,592.6484,20,580.6484,32,568.6484" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" x="213.7053" y="602.8589">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="41.814" x="32" y="584.4565">Is there</text><text fill="#000000" font-family="sans-serif" font-size="11" font-weight="bold" lengthAdjust="spacing" textLength="124.2495" x="77.3105" y="584.4565">STRAIGHT-NON-RED</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="182.354" x="205.0566" y="584.4565">road lanelet in non_red_lanelets?</text><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="324.0078" x="47.7014" y="625.4531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="272.7949" x="57.7014" y="646.5918">estimate related pedestrian's traffic signal as</text><text fill="#000000" font-family="sans-serif" font-size="12" font-weight="bold" lengthAdjust="spacing" textLength="27.3984" x="334.3108" y="646.5918">RED</text><polygon fill="#F1F1F1" points="431.4106,568.6484,910.6143,568.6484,922.6143,580.6484,910.6143,592.6484,431.4106,592.6484,419.4106,580.6484,431.4106,568.6484" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" 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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)
Assumptions / Known limits
Future extensions / Unimplemented parts