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Update doc to explain the new feature
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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  • planning/behavior_velocity_dynamic_obstacle_stop_module

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planning/behavior_velocity_dynamic_obstacle_stop_module/README.md

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@@ -38,8 +38,11 @@ An object is considered by the module only if it meets all of the following cond
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- it is a vehicle (pedestrians are ignored);
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- it is moving at a velocity higher than defined by the `minimum_object_velocity` parameter;
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- it is not too close to the current position of the ego vehicle;
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- it is not unavoidable (only if parameter `ignore_unavoidance_collisions` is set to `true`);
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- it is close to the ego path.
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An object is considered unavoidable if it is heading towards the ego vehicle such that even if ego stops, a collision would still occur (assuming the object keeps driving in a straight line).
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For the last condition,
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the object is considered close enough if its lateral distance from the ego path is less than the threshold parameter `minimum_object_distance_from_ego_path` plus half the width of ego and of the object (including the `extra_object_width` parameter).
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In addition, the value of the `hysteresis` parameter is added to the minimum distance if a stop point was inserted in the previous iteration.
@@ -74,12 +77,13 @@ the stop point arc length is calculated to be the arc length of the previously f
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### Module Parameters
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| Parameter | Type | Description |
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| --------------------------------------- | ------ | ------------------------------------------------------------------------------------------ |
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| `extra_object_width` | double | [m] extra width around detected objects |
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| `minimum_object_velocity` | double | [m/s] objects with a velocity bellow this value are ignored |
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| `stop_distance_buffer` | double | [m] extra distance to add between the stop point and the collision point |
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| `time_horizon` | double | [s] time horizon used for collision checks |
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| `hysteresis` | double | [m] once a collision has been detected, this hysteresis is used on the collision detection |
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| `decision_duration_buffer` | double | [s] duration between no collision being detected and the stop decision being cancelled |
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| `minimum_object_distance_from_ego_path` | double | [m] minimum distance between the footprints of ego and an object to consider for collision |
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| Parameter | Type | Description |
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| --------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------ |
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| `extra_object_width` | double | [m] extra width around detected objects |
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| `minimum_object_velocity` | double | [m/s] objects with a velocity bellow this value are ignored |
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| `stop_distance_buffer` | double | [m] extra distance to add between the stop point and the collision point |
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| `time_horizon` | double | [s] time horizon used for collision checks |
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| `hysteresis` | double | [m] once a collision has been detected, this hysteresis is used on the collision detection |
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| `decision_duration_buffer` | double | [s] duration between no collision being detected and the stop decision being cancelled |
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| `minimum_object_distance_from_ego_path` | double | [m] minimum distance between the footprints of ego and an object to consider for collision |
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| `ignore_unavoidable_collisions` | bool | [-] if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight) |

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