upadate continue

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

planning/behavior_path_dynamic_avoidance_module/README.md

@@ -19,9 +19,32 @@ The table below lists the avoidance modules that can be used for each situation.
 | avoid not-moving objects | Avoidance Module <br> Dynamic Avoidance Module + Obstacle Avoidance Module |            Avoidance Module            |
 | avoid moving objects     |            Dynamic Avoidance Module + Obstacle Avoidance Module            |     No Module (Under Development)      |
 
-## Algorithms
+## Policy of Algorithms
+Here, we describe the policy of inner algorithms.
+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.
+If you are interested in more details, please see the code itself.
+
+### Select obstacles to avoid
+
+To decide whether to avoid an object, both the predicted path and the state (poes and twist) of each object are used.
+The type of objects the user wants this module to avoid is also required.
+Using this information, the module makes a decision to "avoid" objects that "obstruct own passage" and "can be avoided".
+
+As logics for determining whether an object is an obstacle or not, the followings are implemented.
+- longtitudinal speed
+- 経路に近い 干渉する
+- 干渉する時刻が遠すぎると決断を先延ばしにする
+- カットアウト
+   
+
+避けられるか否か
+    交差 lateral speed
+    干渉する時刻が近すぎると回避は諦める
+    横G横ジャークの制約をみたして避けられるか
+    カットイン
+
+どうよけるか 右 左？
 
-### Filtering obstacles to avoid
 
 The dynamics obstacles meeting the following condition will be avoided.
 
@@ -31,6 +54,9 @@ The dynamics obstacles meeting the following condition will be avoided.
 
 ### Drivable area modification
 
+交差物体を右か左どちらによけるか
+
+
 To realize dynamic obstacles for avoidance, the time dimension should be take into an account considering the dynamics.
 However, it will make the planning problem much harder to solve.
 Therefore, we project the time dimension to the 2D pose dimension.
@@ -55,8 +81,13 @@ Opposite directional obstacles
 
 ## Example
 
+
 ## Future works
 
+歩行者の回避
+より大きな回避幅での回避
+
+
 ## Parameters
 
 | Name                                                                  | Unit  | Type   | Description                                                | Default value |