Skip to content
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.

Commit ee685b1

Browse files
danielsanchezarandanielsanchezaran
committedMar 5, 2024
update docs
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
1 parent 7d2ef91 commit ee685b1

File tree

1 file changed

+22
-21
lines changed
  • planning/behavior_path_start_planner_module

1 file changed

+22
-21
lines changed
 

‎planning/behavior_path_start_planner_module/README.md

+22-21
Original file line numberDiff line numberDiff line change
@@ -319,27 +319,28 @@ PullOutPath --o PullOutPlannerBase
319319

320320
## General parameters for start_planner
321321

322-
| Name | Unit | Type | Description | Default value |
323-
| :---------------------------------------------------------- | :---- | :----- | :-------------------------------------------------------------------------- | :------------------- |
324-
| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
325-
| th_distance_to_middle_of_the_road | [m] | double | distance threshold to determine if the vehicle is on the middle of the road | 0.1 |
326-
| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
327-
| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
328-
| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
329-
| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
330-
| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
331-
| collision_check_margins | [m] | double | Obstacle collision check margins list | [2.0, 1.0, 0.5, 0.1] |
332-
| shift_collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | -10.0 |
333-
| geometric_collision_check_distance_from_end | [m] | double | collision check distance from end geometric end pose | 0.0 |
334-
| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 |
335-
| object_types_to_check_for_path_generation.check_car | - | bool | flag to check car for path generation | true |
336-
| object_types_to_check_for_path_generation.check_truck | - | bool | flag to check truck for path generation | true |
337-
| object_types_to_check_for_path_generation.check_bus | - | bool | flag to check bus for path generation | true |
338-
| object_types_to_check_for_path_generation.check_bicycle | - | bool | flag to check bicycle for path generation | true |
339-
| object_types_to_check_for_path_generation.check_motorcycle | - | bool | flag to check motorcycle for path generation | true |
340-
| object_types_to_check_for_path_generation.check_pedestrian | - | bool | flag to check pedestrian for path generation | true |
341-
| object_types_to_check_for_path_generation.check_unknown | - | bool | flag to check unknown for path generation | true |
342-
| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 |
322+
| Name | Unit | Type | Description | Default value |
323+
| :---------------------------------------------------------- | :---- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------- |
324+
| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
325+
| th_distance_to_middle_of_the_road | [m] | double | distance threshold to determine if the vehicle is on the middle of the road | 0.1 |
326+
| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
327+
| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
328+
| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
329+
| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
330+
| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
331+
| collision_check_margins | [m] | double | Obstacle collision check margins list | [2.0, 1.0, 0.5, 0.1] |
332+
| shift_collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | -10.0 |
333+
| geometric_collision_check_distance_from_end | [m] | double | collision check distance from end geometric end pose | 0.0 |
334+
| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 |
335+
| extra_width_margin_for_rear_obstacle | [m] | double | extra width that is added to the perceived rear obstacle's width when deciding if the rear obstacle can overtake the ego vehicle while it is merging to a lane from the shoulder lane. | 0.5 |
336+
| object_types_to_check_for_path_generation.check_car | - | bool | flag to check car for path generation | true |
337+
| object_types_to_check_for_path_generation.check_truck | - | bool | flag to check truck for path generation | true |
338+
| object_types_to_check_for_path_generation.check_bus | - | bool | flag to check bus for path generation | true |
339+
| object_types_to_check_for_path_generation.check_bicycle | - | bool | flag to check bicycle for path generation | true |
340+
| object_types_to_check_for_path_generation.check_motorcycle | - | bool | flag to check motorcycle for path generation | true |
341+
| object_types_to_check_for_path_generation.check_pedestrian | - | bool | flag to check pedestrian for path generation | true |
342+
| object_types_to_check_for_path_generation.check_unknown | - | bool | flag to check unknown for path generation | true |
343+
| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 |
343344

344345
### **Ego vehicle's velocity planning**
345346

0 commit comments

Comments
 (0)
Please sign in to comment.