feat(behavior_velocity_planner.traffic_light): use v2i in planning #1150
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…#941) enabling GO/STOP decision by v2i rest time information --------- Signed-off-by: Yuki Takagi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]>
…1030) Signed-off-by: Tomohito Ando <[email protected]>
Signed-off-by: Mehmet Dogru <[email protected]> Signed-off-by: Tomohito Ando <[email protected]>
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Description
Cherry-pick these commits to use the remaining time information from V2I in planning module.
Tests performed
Conducted tests in simple planning simulator.
simplescreenrecorder-2024-02-19_19.25.30.mp4
In this situation, stop point is inserted though the signal is GREEN. This is because the planning module uses the remaining time information from V2I.
Effects on system behavior
Not applicable.
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