planning: crosswalk changes

modules/planning/common/planning_gflags.cc

@@ -282,13 +282,16 @@ DEFINE_double(crosswalk_strick_l_distance, 4.0,
               "strick stop rule within this l_distance");
 DEFINE_double(crosswalk_loose_l_distance, 5.0,
               "loose stop rule beyond this l_distance");
+DEFINE_double(crosswalk_min_pass_distance, 1.0,
+              "valid min distance(m) for vehicles to be considered as "
+              "have passed crosswalk (stop_line_end_s)");
 /// stop_sign
 DEFINE_bool(enable_stop_sign, true, "enable stop_sign");
 DEFINE_string(stop_sign_virtual_object_id_prefix, "SS_",
               "prefix for converting stop_sign id to virtual object id");
-DEFINE_double(stop_duration_for_stop_sign, 3.0,
+DEFINE_double(stop_sign_stop_duration, 3.0,
               "min time(second) to stop at stop sign");
-DEFINE_double(min_pass_stop_sign_distance, 3.0,
+DEFINE_double(stop_sign_min_pass_distance, 3.0,
               "valid min distance(m) for vehicles to be considered as "
               "have passed stop sign (stop_line_end_s)");
 

modules/planning/common/planning_gflags.h

@@ -169,11 +169,12 @@ DECLARE_string(crosswalk_virtual_object_id_prefix);
 DECLARE_double(crosswalk_expand_distance);
 DECLARE_double(crosswalk_strick_l_distance);
 DECLARE_double(crosswalk_loose_l_distance);
+DECLARE_double(crosswalk_min_pass_distance);
 /// stop_sign
 DECLARE_bool(enable_stop_sign);
 DECLARE_string(stop_sign_virtual_object_id_prefix);
-DECLARE_double(stop_duration_for_stop_sign);
-DECLARE_double(min_pass_stop_sign_distance);
+DECLARE_double(stop_sign_stop_duration);
+DECLARE_double(stop_sign_min_pass_distance);
 
 DECLARE_bool(enable_sqp_solver);
 

modules/planning/tasks/traffic_decider/crosswalk.cc

@@ -60,6 +60,8 @@ bool Crosswalk::ApplyRule(Frame* frame,
 void Crosswalk::MakeDecisions(Frame* frame,
                               ReferenceLineInfo* const reference_line_info) {
   auto* path_decision = reference_line_info->path_decision();
+  double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
+
   for (const auto* path_obstacle : path_decision->path_obstacles().Items()) {
     const PerceptionObstacle& perception_obstacle =
         path_obstacle->obstacle()->Perception();
@@ -84,6 +86,17 @@ void Crosswalk::MakeDecisions(Frame* frame,
       auto crosswalk_info = crosswalk_ptr.get();
       std::string crosswalk_id = crosswalk_info->id().id();
 
+      // skip crosswalk if master vehicle body already passes the stop line
+      double stop_line_end_s = crosswalk_overlap->end_s;
+      if (adc_front_edge_s - stop_line_end_s >
+          FLAGS_crosswalk_min_pass_distance) {
+        ADEBUG << "skip: crosswalk_id[" << crosswalk_id
+            << "]; stop_line_end_s[" << stop_line_end_s
+            << "]; adc_front_edge_s[" << adc_front_edge_s
+            << "]. adc_front_edge passes stop_line_end_s + buffer.";
+        continue;
+      }
+
       // expand crosswalk polygon
       // note: crosswalk expanded area will include sideway area
       Vec2d point(perception_obstacle.position().x(),
@@ -96,8 +109,8 @@ void Crosswalk::MakeDecisions(Frame* frame,
 
       if (!in_expanded_crosswalk) {
         ADEBUG << "skip: not in crosswalk expanded area. "
-               << "obstacle_id[" << obstacle_id << "]; crosswalk_id["
-               << crosswalk_id << "]";
+               << "obstacle_id[" << obstacle_id
+               << "]; crosswalk_id[" << crosswalk_id << "]";
         continue;
       }
 
@@ -154,18 +167,6 @@ void Crosswalk::MakeDecisions(Frame* frame,
         continue;
       }
 
-      // skip crosswalk if master vehicle body already passes the stop line
-      double stop_line_start_s = crosswalk_overlap->start_s;
-      double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
-      if (stop_line_start_s + FLAGS_stop_max_distance_buffer <=
-          adc_front_edge_s) {
-        ADEBUG << "skip: adc_front_edge passes stop_line+buffer. "
-               << "obstacle_id[" << obstacle_id << "]; crosswalk_id["
-               << crosswalk_id << "]; crosswalk_start_s[" << stop_line_start_s
-               << "]; adc_front_edge_s[" << adc_front_edge_s << "]";
-        continue;
-      }
-
       double stop_deceleration =
           GetStopDeceleration(reference_line_info, crosswalk_overlap);
       if (stop_deceleration < FLAGS_stop_max_deceleration) {

modules/planning/tasks/traffic_decider/stop_sign.cc

@@ -113,7 +113,7 @@ void StopSign::MakeDecisions(Frame* frame,
   double adc_front_edge_s = reference_line_info->AdcSlBoundary().end_s();
 
   if (adc_front_edge_s - stop_line_end_s >
-      FLAGS_min_pass_stop_sign_distance) {
+      FLAGS_stop_sign_min_pass_distance) {
     ClearDropbox(stop_sign_id);
     ADEBUG << "skip stop_sign_id[" << stop_sign_id
         << "]; stop_line_end_s[" << stop_line_end_s
@@ -260,7 +260,7 @@ int StopSign::ProcessStopStatus(ReferenceLineInfo* const reference_line_info,
       if (!CheckADCkStop(reference_line_info)) {
         stop_status_ = StopSignStopStatus::TO_STOP;
       } else {
-        if (wait_time >= FLAGS_stop_duration_for_stop_sign) {
+        if (wait_time >= FLAGS_stop_sign_stop_duration) {
           stop_status_ = StopSignStopStatus::STOP_DONE;
         }
       }
@@ -546,7 +546,7 @@ int StopSign::RemoveWatchVehicle(
       double stop_line_end_s = over_lap_info->lane_overlap_info().end_s();
       double obstacle_end_s = obstacle_s + perception_obstacle.length() / 2;
       double distance_pass_stop_line = obstacle_end_s - stop_line_end_s;
-      if (distance_pass_stop_line > FLAGS_min_pass_stop_sign_distance) {
+      if (distance_pass_stop_line > FLAGS_stop_sign_min_pass_distance) {
         ADEBUG << "obstacle_id[" << obstacle_id
             << "] type[" << obstacle_type_name
             << "] distance_pass_stop_line[" << distance_pass_stop_line