From 6b1a459a138bb04f1fcf5f8c9c160718032ce65d Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Thu, 15 Feb 2024 21:38:54 +0900 Subject: [PATCH] docs(start_planner): update collision_check_distance_from_end (#6417) * docs(start_planner): update collision_check_distance_from_end Signed-off-by: Shumpei Wakabayashi * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../README.md | 27 ++++++++++--------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index 00613d985ded8..4db2390e5d91c 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -319,19 +319,20 @@ PullOutPath --o PullOutPlannerBase ## General parameters for start_planner -| Name | Unit | Type | Description | Default value | -| :---------------------------------------------------------- | :---- | :------- | :-------------------------------------------------------------------------- | :-------------- | -| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 | -| th_distance_to_middle_of_the_road | [m] | double | distance threshold to determine if the vehicle is on the middle of the road | 0.1 | -| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 | -| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 | -| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 | -| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 | -| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 | -| collision_check_margins | [m] | [double] | Obstacle collision check margins list | [2.0, 1.5, 1.0] | -| collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | 1.0 | -| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 | -| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 | +| Name | Unit | Type | Description | Default value | +| :---------------------------------------------------------- | :---- | :----- | :-------------------------------------------------------------------------- | :------------------- | +| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 | +| th_distance_to_middle_of_the_road | [m] | double | distance threshold to determine if the vehicle is on the middle of the road | 0.1 | +| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 | +| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 | +| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 | +| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 | +| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 | +| collision_check_margins | [m] | double | Obstacle collision check margins list | [2.0, 1.0, 0.5, 0.1] | +| shift_collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | -10.0 | +| geometric_collision_check_distance_from_end | [m] | double | collision check distance from end geometric end pose | 0.0 | +| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 | +| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 | ### **Ego vehicle's velocity planning**