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feat(trajectory_modifier): add v2i handling for traffic_light_stop pl… - #3499
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…ugin Signed-off-by: Mert Çolak <colak.mrt@outlook.com>
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kotaro-hihara
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Sep 24, 2026
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LGTM |
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kyo0221
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Oct 29, 2026
Re-apply the V2I handling of #3499 on top of the trajectory_modifier imported from feat/v0.64/e2e. V2I is not on e2e, but it is enabled on v4.4.0.1 (use_v2i_remaining_time: true in the launcher), so keep it. - traffic_light_compliance_checker: add ViolationType::V2I, Parameters::v2i_handling and a use_v2i_remaining_time argument to check() (default false). The V2I logic lives in v2i_handling.cpp so that the rest of the checker stays identical to e2e. - traffic_light_stop: pass the V2I parameters to the checker and skip the check when the signals are older than signal_timeout. - Add signal_timeout and v2i_handling.* to param, struct and schema (V2I disabled by default). - Add V2I tests to the checker and a stale signal test to the plugin. Unlike #3499, allow_if_cannot_stop uses the distance from the ego front, as the e2e red and amber checks do (#3380).
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Description
v2iで信号の残り秒数を考慮する用に変更
related link: https://tier4.atlassian.net/browse/T4DEV-59356, https://tier4.atlassian.net/browse/ISUZU-363
How was this PR tested?
psim
Notes for reviewers
None.
Effects on system behavior
None.