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Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Jun 25, 2024 · f317d97 · f317d97
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diff --git a/...utoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md b/...utoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md
@@ -48,15 +48,15 @@ $$
 rss_{dist} = v_{rear} (t_{reaction} + t_{margin}) + \frac{v_{rear}^2}{2|a_{rear, decel}|} - \frac{v_{front}^2}{2|a_{front, decel|}}
 $$
 
-where $V_{front}$, $v_{rear}$ are front and rear vehicle velocity respectively and $a_{rear, front}$, $a_{rear, decel}$ are front and rear vehicle deceleration.
+where $V_{front}$, $v_{rear}$ are front and rear vehicle velocity respectively and $a_{rear, front}$, $a_{rear, decel}$ are front and rear vehicle deceleration. Note that RSS distance is normally used for objects traveling in the same direction, if the yaw difference between a given ego pose and object pose is more than a user-defined yaw difference threshold, the rss collision check will be skipped for that specific pair of poses.
 
 #### 5. Create extended ego and target object polygons
 
 In this step, we compute extended ego and target object polygons. The extended polygons can be described as:
 
 ![extended_polygons](../images/path_safety_checker/extended_polygons.drawio.svg)
 
-As the picture shows, we expand the rear object polygon. For the longitudinal side, we extend it with the RSS distance, and for the lateral side, we extend it by the lateral margin
+As the picture shows, we expand the rear object polygon. For the longitudinal side, we extend it with the RSS distance, and for the lateral side, we extend it by the lateral margin.
 
 #### 6. Check overlap
 

diff --git a/...ing/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md b/...ing/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md
@@ -436,17 +436,18 @@ Parameters under `target_filtering` are related to filtering target objects for
 
 Parameters under `safety_check_params` define the configuration for safety check.
 
-| Name                                           | Unit | Type   | Description                                 | Default value |
-| :--------------------------------------------- | :--- | :----- | :------------------------------------------ | :------------ |
-| enable_safety_check                            | -    | bool   | Flag to enable safety check                 | true          |
-| check_all_predicted_path                       | -    | bool   | Flag to check all predicted paths           | true          |
-| publish_debug_marker                           | -    | bool   | Flag to publish debug markers               | false         |
-| rss_params.rear_vehicle_reaction_time          | [s]  | double | Reaction time for rear vehicles             | 2.0           |
-| rss_params.rear_vehicle_safety_time_margin     | [s]  | double | Safety time margin for rear vehicles        | 1.0           |
-| rss_params.lateral_distance_max_threshold      | [m]  | double | Maximum lateral distance threshold          | 2.0           |
-| rss_params.longitudinal_distance_min_threshold | [m]  | double | Minimum longitudinal distance threshold     | 3.0           |
-| rss_params.longitudinal_velocity_delta_time    | [s]  | double | Delta time for longitudinal velocity        | 0.8           |
-| hysteresis_factor_expand_rate                  | -    | double | Rate to expand/shrink the hysteresis factor | 1.0           |
+| Name                                           | Unit | Type   | Description                                                                               | Default value |
+| :--------------------------------------------- | :--- | :----- | :---------------------------------------------------------------------------------------- | :------------ |
+| enable_safety_check                            | -    | bool   | Flag to enable safety check                                                               | true          |
+| check_all_predicted_path                       | -    | bool   | Flag to check all predicted paths                                                         | true          |
+| publish_debug_marker                           | -    | bool   | Flag to publish debug markers                                                             | false         |
+| rss_params.rear_vehicle_reaction_time          | [s]  | double | Reaction time for rear vehicles                                                           | 2.0           |
+| rss_params.rear_vehicle_safety_time_margin     | [s]  | double | Safety time margin for rear vehicles                                                      | 1.0           |
+| rss_params.lateral_distance_max_threshold      | [m]  | double | Maximum lateral distance threshold                                                        | 2.0           |
+| rss_params.longitudinal_distance_min_threshold | [m]  | double | Minimum longitudinal distance threshold                                                   | 3.0           |
+| rss_params.longitudinal_velocity_delta_time    | [s]  | double | Delta time for longitudinal velocity                                                      | 0.8           |
+| hysteresis_factor_expand_rate                  | -    | double | Rate to expand/shrink the hysteresis factor                                               | 1.0           |
+| collision_check_yaw_diff_threshold             | -    | double | Maximum yaw difference between ego and object when executing rss-based collision checking | 1.578         |
 
 ## **Path Generation**