Skip to content

Commit

Permalink
style(pre-commit): autofix
Browse files Browse the repository at this point in the history 
Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
  • Loading branch information
@pre-commit-ci @KeisukeShima
pre-commit-ci[bot] authored and KeisukeShima committed Jul 9, 2024
1 parent a2bb8f7 commit 84190ca
Showing 1 changed file with 13 additions and 13 deletions.
26 changes: 13 additions & 13 deletions ...ning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -173,19 +173,19 @@ The gray numbers represent objects to avoid, and you can see that the goal in fr

### Parameters for goal search

| Name | Unit | Type | Description | Default value |
| :------------------------------ | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------- |
| goal_priority | [-] | string | In case `minimum_longitudinal_distance`, sort with smaller longitudinal distances taking precedence over smaller lateral distances. In case `minimum_weighted_distance`, sort with the sum of weighted lateral distance and longitudinal distance | `minimum_weighted_distance` |
| lateral_weight | [-] | double | Weight for lateral distance used when `minimum_weighted_distance` | 40.0 |
| prioritize_goals_before_objects | [-] | bool | If there are objects that may need to be avoided, prioritize the goal in front of them | true |
| forward_goal_search_length | [m] | double | length of forward range to be explored from the original goal | 20.0 |
| backward_goal_search_length | [m] | double | length of backward range to be explored from the original goal | 20.0 |
| goal_search_interval | [m] | double | distance interval for goal search | 2.0 |
| longitudinal_margin | [m] | double | margin between ego-vehicle at the goal position and obstacles | 3.0 |
| max_lateral_offset | [m] | double | maximum offset of goal search in the lateral direction | 0.5 |
| lateral_offset_interval | [m] | double | distance interval of goal search in the lateral direction | 0.25 |
| ignore_distance_from_lane_start | [m] | double | This parameter ensures that the distance between the start of the shoulder lane and the goal is not less than the specified value. It's used to prevent setting goals too close to the beginning of the shoulder lane, which might lead to unsafe or impractical pull-over maneuvers. Increasing this value will force the system to ignore potential goal positions near the start of the shoulder lane, potentially leading to safer and more comfortable pull-over locations. | 0.0 |
| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 |
| Name | Unit | Type | Description | Default value |
| :------------------------------ | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------- |
| goal_priority | [-] | string | In case `minimum_longitudinal_distance`, sort with smaller longitudinal distances taking precedence over smaller lateral distances. In case `minimum_weighted_distance`, sort with the sum of weighted lateral distance and longitudinal distance | `minimum_weighted_distance` |
| lateral_weight | [-] | double | Weight for lateral distance used when `minimum_weighted_distance` | 40.0 |
| prioritize_goals_before_objects | [-] | bool | If there are objects that may need to be avoided, prioritize the goal in front of them | true |
| forward_goal_search_length | [m] | double | length of forward range to be explored from the original goal | 20.0 |
| backward_goal_search_length | [m] | double | length of backward range to be explored from the original goal | 20.0 |
| goal_search_interval | [m] | double | distance interval for goal search | 2.0 |
| longitudinal_margin | [m] | double | margin between ego-vehicle at the goal position and obstacles | 3.0 |
| max_lateral_offset | [m] | double | maximum offset of goal search in the lateral direction | 0.5 |
| lateral_offset_interval | [m] | double | distance interval of goal search in the lateral direction | 0.25 |
| ignore_distance_from_lane_start | [m] | double | This parameter ensures that the distance between the start of the shoulder lane and the goal is not less than the specified value. It's used to prevent setting goals too close to the beginning of the shoulder lane, which might lead to unsafe or impractical pull-over maneuvers. Increasing this value will force the system to ignore potential goal positions near the start of the shoulder lane, potentially leading to safer and more comfortable pull-over locations. | 0.0 |
| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 |

## **Pull Over**

Expand Down

0 comments on commit 84190ca

Please sign in to comment.