From f317d97abbf0b338429930316184c6fa70f458d7 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 25 Jun 2024 15:24:54 +0900 Subject: [PATCH] docs Signed-off-by: Daniel Sanchez --- .../behavior_path_planner_safety_check.md | 4 ++-- .../README.md | 23 ++++++++++--------- 2 files changed, 14 insertions(+), 13 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md index 4733fe7832da6..5511202c390b1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md @@ -48,7 +48,7 @@ $$ rss_{dist} = v_{rear} (t_{reaction} + t_{margin}) + \frac{v_{rear}^2}{2|a_{rear, decel}|} - \frac{v_{front}^2}{2|a_{front, decel|}} $$ -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 @@ -56,7 +56,7 @@ In this step, we compute extended ego and target object polygons. The extended p ![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/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md index 066708891652a..dba4a0cfce5e7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md +++ b/planning/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**