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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 private area from which the vehicle enters the public road. The stop line is generated both when the goal is in the intersection lane and when the path goes beyond the intersection lane. The basic behavior is the same as the intersection module, but the ego vehicle must stop once at the stop line.

merge-from-private

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.