fix(scene_crosswalk): update obstruction prevention #2545
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added 6 commits
November 26, 2025 13:57
N-Iemura
requested review from
kyoichi-sugahara,
satoshi-ota,
shmpwk,
soblin,
takayuki5168,
tkimura4 and
yuki-takagi-66
as code owners
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N-Iemura
changed the title
| # params to prevent stopping on crosswalks due to another vehicle ahead | ||
| obstruction_prevention: | ||
| enable_obstruction_prevention: false # [-] flag to enable obstruction prevention checking for crosswalk which is in intersection | ||
| enable_obstruction_prevention: false # [-] flag to enable obstruction prevention feature |
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please keep true to maintain conventional behavior
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PR Type
Jira Ticket Links
https://tier4.atlassian.net/browse/T4DEV-33726
https://star4.slack.com/archives/C074CCKN35E/p1763532282357739
Description
従来のパラメータ
enable_obstruction_preventionは交差点のみでの実装になっていたため、こちらを機能全体の無効化用パラメータに変更し、交差点でスキップするためのパラメータignore_in_intersectionを導入しました。プランナーパラメータのデフォルトも YAML に合わせて無効化に統一しています。Review Procedure
変更を適用し、チケット内で使用していたbagファイルを用いてperception reproducerを走らせ、crosswalk wallが消えていることを確認しました。
--- 動作環境 ---
pilot-auto.xx1:beta/v0.50
universe: beta/v0.48.0
3766/3800
/3800
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