From d5eafc12f1e6b597eea0f5284004e8fe65920c26 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 5 Jul 2023 08:47:57 +0900 Subject: [PATCH] docs(avoidance): add new parameter description Signed-off-by: satoshi-ota --- .../behavior_path_planner_avoidance_design.md | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md index b290a1efa90da..e1de6b5a59314 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md @@ -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 @@ -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