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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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planning/behavior_path_dynamic_avoidance_module/README.md

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@@ -19,9 +19,32 @@ The table below lists the avoidance modules that can be used for each situation.
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| avoid not-moving objects | Avoidance Module <br> Dynamic Avoidance Module + Obstacle Avoidance Module | Avoidance Module |
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| avoid moving objects | Dynamic Avoidance Module + Obstacle Avoidance Module | No Module (Under Development) |
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## Algorithms
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## Policy of Algorithms
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Here, we describe the policy of inner algorithms.
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The inner algorithms can be separated into two parts: The first decide whether to avoid the obstacles and the second cuts off the drivable area against the corresponding obstacle.
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If you are interested in more details, please see the code itself.
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### Select obstacles to avoid
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To decide whether to avoid an object, both the predicted path and the state (poes and twist) of each object are used.
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The type of objects the user wants this module to avoid is also required.
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Using this information, the module makes a decision to "avoid" objects that "obstruct own passage" and "can be avoided".
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As logics for determining whether an object is an obstacle or not, the followings are implemented.
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- longtitudinal speed
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- 経路に近い 干渉する
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- 干渉する時刻が遠すぎると決断を先延ばしにする
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- カットアウト
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避けられるか否か
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交差 lateral speed
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干渉する時刻が近すぎると回避は諦める
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横G横ジャークの制約をみたして避けられるか
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カットイン
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どうよけるか 右 左?
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### Filtering obstacles to avoid
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The dynamics obstacles meeting the following condition will be avoided.
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### Drivable area modification
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交差物体を右か左どちらによけるか
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To realize dynamic obstacles for avoidance, the time dimension should be take into an account considering the dynamics.
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However, it will make the planning problem much harder to solve.
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Therefore, we project the time dimension to the 2D pose dimension.
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## Example
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## Future works
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歩行者の回避
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より大きな回避幅での回避
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## Parameters
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| Name | Unit | Type | Description | Default value |

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