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feat(obstacle_cruise_planner): add explanations for holding the closest stop obstacle #1835

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Sep 12, 2022
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feat(obstacle_cruise_planner): add explanations for holding the closest stop obstacle #1835

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feat(obstacle_cruise_planner): add explanations for holding the close…
purewater0901 Sep 12, 2022
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Merge branch 'main' into feat/add-holding-document
purewater0901 Sep 12, 2022
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10 changes: 10 additions & 0 deletions planning/obstacle_cruise_planner/README.md
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Expand Up @@ -274,6 +274,16 @@ In the case of the crosswalk described above, `obstacle_cruise_planner` inserts
| --------------------------------- | ------ | ---------------------------------------------------------------------- |
| `common.min_behavior_stop_margin` | double | minimum stop margin when stopping with the behavior module enabled [m] |

### A function to keep the closest stop obstacle in target obstacles

In order to keep the closest stop obstacle in the target obstacles, we check whether it is disappeared or not from the target obstacles in the `checkConsistency` function.
If the previous closest stop obstacle is remove from the lists, we keep it in the lists for `stop_obstacle_hold_time_threshold` seconds.
Note that if a new stop obstacle appears and the previous closest obstacle removes from the lists, we do not add it to the target obstacles again.

| Parameter | Type | Description |
| ------------------------------------------------------ | ------ | -------------------------------------------------- |
| `obstacle_filtering.stop_obstacle_hold_time_threshold` | double | maximum time for holding closest stop obstacle [s] |

## Visualization for debugging

### Detection area
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