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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The crosswalk_traffic_light_estimator package
Additional Links
No additional links.
Maintainers
- Satoshi Ota
- Shunsuke Miura
- Tao Zhong
Authors
No additional authors.
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_auto_mapping_msgs::msg::HADMapBin |
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 |
tier4_perception_msgs::msg::TrafficSignalArray |
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
start
:subscribe detected traffic signals & HDMap;
:extract crosswalk lanelets from HDMap;
:extract road lanelets that conflicts crosswalk;
:initialize non_red_lanelets(lanelet::ConstLanelets);
if (Latest detection result is **GREEN** or **AMBER**?) then (yes)
:push back non_red_lanelets;
else (no)
if (use_last_detect_color is **true**?) then (yes)
if (Latest detection result is **UNKNOWN** and last detection result is **GREEN** or **AMBER**?) then (yes)
:push back non_red_lanelets;
endif
endif
endif
if (Is there **STRAIGHT-NON-RED** road lanelet in non_red_lanelets?) then (yes)
:estimate related pedestrian's traffic signal as **RED**;
else if (Is there both **LEFT-NON-RED** and **RIGHT-NON-RED** road lanelet in non_red_lanelets?) then (yes)
:estimate related pedestrian's traffic signal as **RED**;
else (no)
:estimate related pedestrian's traffic signal as **UNKNOWN**;
endif
end
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)
<img src="images/straight.drawio.svg" width=80%>
<img src="images/intersection1.svg" width=80%>
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)
<img src="images/intersection2.svg" width=80%>
Assumptions / Known limits
Future extensions / Unimplemented parts
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crosswalk_traffic_light_estimator at Robotics Stack Exchange
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