Update pedestrian consideration to factor in distance from ego vehicle #1585
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takanotaiga
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bump patch
Checklist for reviewers ☑️All references to "You" in the following text refer to the code reviewer.
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takanotaiga
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takanotaiga
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hakuturu583
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bump minor
hakuturu583
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Apr 24, 2025
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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
hasObstacleInPedestrianLaneslambda 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_lengthare the pedestrian’s lane IDs collected.Updated the call within
FollowLaneAction::detectObstacleInLanefrom:hasObstacleInPedestrianLanes(pedestrian_lanes)to:
where 10.0 m is the default detection range.
Before
before.mov
After
after.mov
References
Destructive Changes
N/A
Known Limitations
N/A