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docs(avoidance): add new parameter description
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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satoshi-ota committed Jul 5, 2023
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19 changes: 11 additions & 8 deletions planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md
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Expand Up @@ -677,14 +677,16 @@ namespace: `avoidance.avoidance.lateral.`

namespace: `avoidance.avoidance.longitudinal.`

| Name | Unit | Type | Description | Default value |
| :----------------------------------- | :---- | :----- | :----------------------------------------------------------------------------------------------------- | :------------ |
| prepare_time | [s] | double | Avoidance shift starts from point ahead of this time x ego_speed to avoid sudden path change. | 2.0 |
| longitudinal_collision_safety_buffer | [s] | double | Longitudinal collision buffer between target object and shift line. | 0.0 |
| min_prepare_distance | [m] | double | Minimum distance for "prepare_time" x "ego_speed". | 1.0 |
| min_avoidance_distance | [m] | double | Minimum distance of avoidance path (i.e. this distance is needed even if its lateral jerk is very low) | 10.0 |
| min_nominal_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a nominal situation (\*1). | 7.0 |
| min_sharp_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a sharp situation (\*1). | 1.0 |
| Name | Unit | Type | Description | Default value |
| :----------------------------------- | :---- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------- |
| prepare_time | [s] | double | Avoidance shift starts from point ahead of this time x ego_speed to avoid sudden path change. | 2.0 |
| longitudinal_collision_safety_buffer | [s] | double | Longitudinal collision buffer between target object and shift line. | 0.0 |
| min_prepare_distance | [m] | double | Minimum distance for "prepare_time" x "ego_speed". | 1.0 |
| min_avoidance_distance | [m] | double | Minimum distance of avoidance path (i.e. this distance is needed even if its lateral jerk is very low) | 10.0 |
| min_nominal_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a nominal situation (\*1). | 7.0 |
| min_sharp_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a sharp situation (\*1). | 1.0 |
| min_slow_down_speed | [m/s] | double | Minimum slow speed for avoidance prepare section. | 1.38 (5km/h) |
| buf_slow_down_speed | [m/s] | double | Buffer for controller tracking error. Basically, vehicle always cannot follow velocity profile precisely. Therefore, the module inserts lower speed than target speed that satisfies conditions to avoid object within accel/jerk constraints so that the avoidance path always can be output even if the current speed is a little bit higher than target speed. | 0.57 (2.0km/h) |

### Yield maneuver parameters

Expand All @@ -702,6 +704,7 @@ namespace: `avoidance.stop.`
| :----------- | :--- | :----- | :---------------------------------------------------------------------------------------------------- | :------------ |
| min_distance | [m] | double | Minimum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 10.0 |
| max_distance | [m] | double | Maximum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 20.0 |
| stop_buffer | [m] | double | Buffer distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 1.0 |

### Constraints parameters

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