From 022d81a4be23c2a8d3ce3e87801d290ab42105d5 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon, 12 Sep 2022 19:24:00 +0900 Subject: [PATCH] feat(obstacle_cruise_planner): add explanations for holding the closest stop obstacle (#1835) Signed-off-by: yutaka Signed-off-by: yutaka --- planning/obstacle_cruise_planner/README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/planning/obstacle_cruise_planner/README.md b/planning/obstacle_cruise_planner/README.md index da51913510548..d4e66d87b5a5a 100644 --- a/planning/obstacle_cruise_planner/README.md +++ b/planning/obstacle_cruise_planner/README.md @@ -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