zhaoyuan/models/safety/safety_config.yaml

name: safety
priority: 0
safeTime:
  name: safetime
  priority: 0
  TTC:
    name: TTC
    priority: 0
    max: 2000.0
    min: 2.86
  MTTC:
    name: MTTC
    priority: 0
    max: 2000.0
    min: 3.0
  THW:
    name: THW
    priority: 0
    max: 2000.0
    min: 1.5
safeDistance:
  name: safeDistance
  priority: 0
  LonSD:
    name: LonSD
    priority: 0
    max: 2000.0
    min: 10.0
  LatSD:
    name: LatSD 
    priority: 0
    max: 2000.0
    min: 2.0
safeAcceleration:
  name: safeAcceleration
  priority: 0
  DRAC:
    name: DRAC
    priority: 0
    max: 5.0
    min: -2000.0
  BTN:
    name: BTN
    priority: 0
    max: 1.0
    min: -2000.0
  STN:
    name: STN
    priority: 0
    max: 1.0
    min: -2000.0
safeProbability:
  name: safeProbability
  priority: 0
  collisionRisk:
    name: collisionRisk
    priority: 0
    max: 10.0
    min: 0.0
  collisionSeverity:
    name: collisionSeverity
    priority: 0
    max: 10.0
    min: 0.0