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fix(traffic_light_stop): floor scan length with min_lookahead_distance and wire stop time step - #3232
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Owen-Liuyuxuan merged 2 commits intoJul 28, 2026
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At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com>
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…e and wire stop time step (tier4/autoware_universe#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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…e and wire stop time step (tier4/autoware_universe#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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…lity (#3339) * feat(traffic_light_compliance_checker): allow when close and cannot stop (#3222) feat(traffic_light_compliance_checker): allow when close and cannot stop (autowarefoundation#13028) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(traffic_light_compliance_checker): improve stop point detection (#3203) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(traffic_light_stop): floor scan length with min_lookahead_distance and wire stop time step (#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * modify tl compliance checker to detect stop attempts at amber light and (optionally) add tl id to force rejection buffer - update traffic_light_stop params in modifier - update traffic_light filter params in validator - update modifier and validator parameter structs - implement logic to detect stops at ember light and optionally add to force rejection buffer - update & refactor traffic_light filter tests Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * refactor tl compliance checker - update amber rejection hystory while checking for violations instead of post process - apply allow_if_cannot stop check while checking for violations instead of post process Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> * improve crossig time limit logic compute dynamic time limit for amber light based on tracked tl duration instead of using fixed value param Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * check the flag reject_if_stop_detected before adding tl to amber_rejection_history_ Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add test cases to traffic_light_stop and traffic_light_filter Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * minor refactor Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Mohammad <alqudah.mohammad@tier4.jp>
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…3369) * feat(trajectory_modifier): adapt TrafficLightStop from X2 processor Extend InputData with map/route/TL and register a modifier plugin using modify_trajectory (not processor process()). Source: #3017 (0bc9698), AWF#12875 (502d264), Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> #3091 (9fc3824), #3232 (f5f933e). * fix(trajectory_modifier): emit three-point temporal-safe stop trajectory Immediate-stop replacement used two identical zero-time points, which temporal PID/MPC reject. Match X2: three points at 0/dt/2dt with 1 mm offsets, and pass trajectory_time_step from all stop plugins. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * feat(planning_validator): add uncrossable-boundary departure plugin (#3370) * feat(planning_validator): add uncrossable-boundary departure plugin Reject the single planned trajectory on CRITICAL road-border departure and publish diagnostic boundary_departure for MRM. Source: X2 autoware_trajectory_validator uncrossable_boundary_departure d1ae5d0 (#3358), mapped onto planning_validator PluginInterface. Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat(trajectory_modifier): port velocity modifier from X2 (#3379) feat(trajectory_modifier): enable velocity modifier * feat(control): port temporal trajectory follower and follow-ups from X2 (#3371) * feat(control): port temporal trajectory_reference_mode from X2 Use timestamps for nearest-point selection in MPC and PID when trajectory_reference_mode is temporal. Default remains spatial in C++ so existing tests without time_from_start still run. Source: #2957 (d287a8e), AWF#12886 (58433ba), #3138 (44d891d), #3072 (7831873). Skipped Taubin (#3041) and trajectory-steer feedforward (#3268) due to XX1 MPCTrajectory API drift. Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * fix(control): keep follower package default spatial E2E opts into temporal via autoware_launch.xx1. Leave the Universe package YAML at spatial so standalone/non-E2E users are unchanged. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * feat(control): port temporal MPC/PID follow-ups from X2 Temporal mode needs look-ahead PID, Taubin short-horizon curvature, confidence steer hold, and trajectory-steer feedforward. These land with the temporal controller, not as isolated extras. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp>
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* feat(traffic_light_compliance_checker): copy package from X2 e2e Port the checker library so TrafficLightStop can run on XX1 modifier. Source: #3009 (5d7ab5b), #3232 (f5f933e), copied tree #3346 (cd44e12). Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat(trajectory_modifier): adapt TrafficLightStop from X2 processor (#3369) * feat(trajectory_modifier): adapt TrafficLightStop from X2 processor Extend InputData with map/route/TL and register a modifier plugin using modify_trajectory (not processor process()). Source: #3017 (0bc9698), AWF#12875 (502d264), Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> #3091 (9fc3824), #3232 (f5f933e). * fix(trajectory_modifier): emit three-point temporal-safe stop trajectory Immediate-stop replacement used two identical zero-time points, which temporal PID/MPC reject. Match X2: three points at 0/dt/2dt with 1 mm offsets, and pass trajectory_time_step from all stop plugins. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * feat(planning_validator): add uncrossable-boundary departure plugin (#3370) * feat(planning_validator): add uncrossable-boundary departure plugin Reject the single planned trajectory on CRITICAL road-border departure and publish diagnostic boundary_departure for MRM. Source: X2 autoware_trajectory_validator uncrossable_boundary_departure d1ae5d0 (#3358), mapped onto planning_validator PluginInterface. Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat(trajectory_modifier): port velocity modifier from X2 (#3379) feat(trajectory_modifier): enable velocity modifier * feat(control): port temporal trajectory follower and follow-ups from X2 (#3371) * feat(control): port temporal trajectory_reference_mode from X2 Use timestamps for nearest-point selection in MPC and PID when trajectory_reference_mode is temporal. Default remains spatial in C++ so existing tests without time_from_start still run. Source: #2957 (d287a8e), AWF#12886 (58433ba), #3138 (44d891d), #3072 (7831873). Skipped Taubin (#3041) and trajectory-steer feedforward (#3268) due to XX1 MPCTrajectory API drift. Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * fix(control): keep follower package default spatial E2E opts into temporal via autoware_launch.xx1. Leave the Universe package YAML at spatial so standalone/non-E2E users are unchanged. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * feat(control): port temporal MPC/PID follow-ups from X2 Temporal mode needs look-ahead PID, Taubin short-horizon curvature, confidence steer hold, and trajectory-steer feedforward. These land with the temporal controller, not as isolated extras. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp>
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…e and wire stop time step (tier4/autoware_universe#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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* feat(traffic_light_compliance_checker): copy package from X2 e2e Port the checker library so TrafficLightStop can run on XX1 modifier. Source: #3009 (5d7ab5b), #3232 (f5f933e), copied tree #3346 (cd44e12). Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat(trajectory_modifier): adapt TrafficLightStop from X2 processor (#3369) * feat(trajectory_modifier): adapt TrafficLightStop from X2 processor Extend InputData with map/route/TL and register a modifier plugin using modify_trajectory (not processor process()). Source: #3017 (0bc9698), AWF#12875 (502d264), Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> #3091 (9fc3824), #3232 (f5f933e). * fix(trajectory_modifier): emit three-point temporal-safe stop trajectory Immediate-stop replacement used two identical zero-time points, which temporal PID/MPC reject. Match X2: three points at 0/dt/2dt with 1 mm offsets, and pass trajectory_time_step from all stop plugins. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * feat(planning_validator): add uncrossable-boundary departure plugin (#3370) * feat(planning_validator): add uncrossable-boundary departure plugin Reject the single planned trajectory on CRITICAL road-border departure and publish diagnostic boundary_departure for MRM. Source: X2 autoware_trajectory_validator uncrossable_boundary_departure d1ae5d0 (#3358), mapped onto planning_validator PluginInterface. Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat(trajectory_modifier): port velocity modifier from X2 (#3379) feat(trajectory_modifier): enable velocity modifier * feat(control): port temporal trajectory follower and follow-ups from X2 (#3371) * feat(control): port temporal trajectory_reference_mode from X2 Use timestamps for nearest-point selection in MPC and PID when trajectory_reference_mode is temporal. Default remains spatial in C++ so existing tests without time_from_start still run. Source: #2957 (d287a8e), AWF#12886 (58433ba), #3138 (44d891d), #3072 (7831873). Skipped Taubin (#3041) and trajectory-steer feedforward (#3268) due to XX1 MPCTrajectory API drift. Co-authored-by: Cursor <cursoragent@cursor.com> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * fix(control): keep follower package default spatial E2E opts into temporal via autoware_launch.xx1. Leave the Universe package YAML at spatial so standalone/non-E2E users are unchanged. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * feat(control): port temporal MPC/PID follow-ups from X2 Temporal mode needs look-ahead PID, Taubin short-horizon curvature, confidence steer hold, and trajectory-steer feedforward. These land with the temporal controller, not as isolated extras. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: iemura <iemura-n1207@keio.jp> (cherry picked from commit 145e799)
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…e and wire stop time step (tier4#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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…e and wire stop time step (tier4#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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…ability and amber handling (autowarefoundation#13371) * modify tl compliance checker to detect stop attempts at amber light and (optionally) add tl id to force rejection buffer - update traffic_light_stop params in modifier - update traffic_light filter params in validator - update modifier and validator parameter structs - implement logic to detect stops at ember light and optionally add to force rejection buffer - update & refactor traffic_light filter tests Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * refactor tl compliance checker - update amber rejection hystory while checking for violations instead of post process - apply allow_if_cannot stop check while checking for violations instead of post process Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> * improve crossig time limit logic compute dynamic time limit for amber light based on tracked tl duration instead of using fixed value param Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * check the flag reject_if_stop_detected before adding tl to amber_rejection_history_ Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * add test cases to traffic_light_stop and traffic_light_filter Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * minor refactor Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix(traffic_light_stop): floor scan length with min_lookahead_distance and wire stop time step (tier4#3232) * fix(traffic_light_stop): check full traj horizon and wire stop time step At low ego speed the compliance checker capped the scan by comfortable stopping distance (~0.5 m), missing red stop lines ahead. Also assign trajectory_time_step_ so the existing 3-point stop fallback uses the configured step. Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix(traffic_light): floor scan length with min_lookahead_distance Restore the comfortable-stop scan cap but floor it at 20 m so creeping ego still sees nearby stop lines, without rejecting far lights in the shared traffic_light_filter path. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> * fix cherry-pick errors Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * implement arrow aware amber tl compliance check - Track YellowState (kNotYellow / kFromGreen / kFromNonGreen) in TrafficLightStatusTracker from raw Green Circle → Amber transitions - Skip stop-line collection for arrow-aware amber when enable_arrow_aware_yellow_passing, turn lane, mapped static arrow, and kFromGreen all hold - Keep Red→Amber / unknown-origin amber as stop (no override) - Add shared utils (is_equal, has_*_circle, has_static_arrow, is_arrow_aware_amber_pass) used by tracker and checker - Add enable_arrow_aware_yellow_passing (default true) and wire it through trajectory_modifier traffic_light_stop and trajectory_validator traffic_light_filter (params, schema, config) - Document arrow-aware amber behavior in the compliance checker README - Add unit tests for yellow-transition tracking and end-to-end arrow-aware amber cases Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * hold last stable TL status while gated states settle - Track current candidate and last stable signal separately in TrafficLightStatusTracker - Emit the last stable status while red/amber/unknown are below their stable-duration thresholds instead of clearing elements - Update YellowState only when the accepted stable status changes, avoiding single-frame false detections - Pass through raw signals when ego is stopped for responsiveness, while still updating stable history - Accept candidate states with duration >= threshold (including immediate green) Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * replace yellow usage by amber Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix test Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * rename test file and extend test cases for compliance checker Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * improve TL compliance checker to prevent chattering behavior - refactor TrafficLightStatusTracker::filter_signals to emit all stable statuses in the history, not only the ones in this frame - keep a history of violation arc lengths per id - use previous violation arc lengths to floor current frame lookahead distance - use current frame collected stop lines to cleanup the history of violation arc lengths Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * Update common/autoware_traffic_light_compliance_checker/include/autoware/traffic_light_compliance_checker/utils.hpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * feat(traffic_light_stop, traffic_light_compliance_checker): fix inconsistent amber rejection behavior (tier4#3380) * update modifier traffic_light_stop parameters - modify traffic_light_stop config to be consistent with traffic_light_filter - update parameter_struct.yaml and schema - update integration tests - add delay_response_time param Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * ensure distance to stop line and crossing time are measured with respect to ego front Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * update default trajectory_processor config Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix format Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * remove duplicated set of params Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> * fix test Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> --------- Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp> Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
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Summary
min_lookahead_distance(default 20 m) so red/amber stop lines further ahead are still checked at low ego speed (creeping ~0.5–1 m/s previously limited the scan to ~0.5 m via comfortable-stop distance alone).stop_overshoot_margincap so far lights are not over-checked (important fortraffic_light_filter, which rejects trajectories).trajectory_time_step_inTrafficLightStopinit/update so the existing 3-pointreplace_trajectory_with_stop_pointfallback uses the configured step.min_lookahead_distancethrough trajectory modifier (TrafficLightStop) and trajectory validator (TrafficLightFilter).Test plan
trunc_by_len/max_scan_len≈0.5withred_stop_lines=1andviolations=0; after fix expect violations and stop insertionrecording_20260722_161600.mp4
Notes for reviewers
pilot-auto.x2autoware.repospin forautoware/universeonfeat/v0.64/e2eshould be bumped in a follow-up monorepo PR.feat/v4.4/e2e).Related links
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