The purpose of this pull request is to merge pedestrian crossing light functionality. This means that pedestrians now respond to different crossing light states with different behaviours/maneuvers and plan their routes taking into account the current light
states.
The following behaviours were integrated:
Pedestrians respond to the crossing light state of their target crosswalk. They enter the crosswalk on green and wait at entrance on yellow and red.
When a pedestrian approaches the intersection (within a threshold distance from their target crosswalk), they re-evaluate their route taking into account the current light states. This mean they may change their target crosswalk to an equally useful crosswalk that has a green light.
The following technical changes were made:
Pedestrian crossing lights were added to lanelet2_university_weber_alt_walkways.osm and can be added to scenarios using this map
Maneuvers Wait at Crosswalk Entrance, Increase Walking Speed, Return to Crosswalk Entrance, and Select Crosswalk by Light State were created
Updated crossing_light.btree to check for the current light state and select an appropriate maneuver
As usual, run the scenarios in scenarios/pedestrian_scenarios/ to test, specifically gs_intersection_crowd and gs_intersection_xwalk_signal.
The purpose of this pull request is to merge pedestrian crossing light functionality. This means that pedestrians now respond to different crossing light states with different behaviours/maneuvers and plan their routes taking into account the current light states.
The following behaviours were integrated:
The following technical changes were made:
lanelet2_university_weber_alt_walkways.osm
and can be added to scenarios using this mapWait at Crosswalk Entrance
,Increase Walking Speed
,Return to Crosswalk Entrance
, andSelect Crosswalk by Light State
were createdcrossing_light.btree
to check for the current light state and select an appropriate maneuverAs usual, run the scenarios in
scenarios/pedestrian_scenarios/
to test, specificallygs_intersection_crowd
andgs_intersection_xwalk_signal
.