16.2.0

Abstract

This pull request enhances pedestrian obstacle detection by adding a maximum detection range, so that only pedestrians within a specified distance from the ego vehicle are considered when evaluating lane obstacles.

Background

The previous implementation only checked whether a pedestrian occupied a lane and was ahead, causing the vehicle to react even to distant pedestrians. This could lead to unnecessary stops or unnatural behavior. Introducing a distance threshold ensures more realistic and efficient obstacle detection.

Details

• Extended the signature of the hasObstacleInPedestrianLanes lambda to accept a new parameter, max_detect_length (maximum detection distance).

• Calculated the Euclidean distance between the ego vehicle and each pedestrian; only if norm < max_detect_length are the pedestrian’s lane IDs collected.

• Updated the call within FollowLaneAction::detectObstacleInLane from:

  hasObstacleInPedestrianLanes(pedestrian_lanes)

  to:

  hasObstacleInPedestrianLanes(pedestrian_lanes, 10)

  where 10.0 m is the default detection range.

Before

before.mov

After

after.mov

References

• tier4/sim_evaluation_tools#507

Destructive Changes

N/A

Known Limitations

N/A

Related Issues