Skip to content

Commit

Permalink
update max curvature discription
Browse files Browse the repository at this point in the history 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
  • Loading branch information
@kosuke55
kosuke55 committed Jul 10, 2024
1 parent 3410d2d commit fa4fc53
Showing 1 changed file with 11 additions and 11 deletions.
22 changes: 11 additions & 11 deletions ...ing/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -469,17 +469,17 @@ Pull out distance is calculated by the speed, lateral deviation, and the lateral

#### parameters for shift pull out

| Name | Unit | Type | Description | Default value |
| :--------------------------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true |
| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | true |
| allow_check_shift_path_lane_departure_override | [-] | bool | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane | false |
| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 |
| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 |
| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
| maximum_curvature | [1/m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |
| Name | Unit | Type | Description | Default value |
| :--------------------------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :------------ |
| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true |
| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | true |
| allow_check_shift_path_lane_departure_override | [-] | bool | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane | false |
| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 |
| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 |
| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
| maximum_curvature | [1/m] | double | maximum curvature. Calculate the required pull out distance from this maximum curvature, assuming the reference path is considered a straight line and shifted by two approximate arcs. This does not compensate for curvature in a shifted path or curve. | 0.07 |
| end_pose_curvature_threshold | [1/m] | double | The curvature threshold which is used for calculating the longitudinal distance of shift. The shift end pose is shifted forward so that curvature on shift end pose is less than this value. This is to prevent the generated path from having a large curvature when the end pose is on a curve. If a shift end pose with a curvature below the threshold is not found, the longitudinal distance is used as the distance to the point with the lowest curvature among the points beyond a certain distance. | 0.01 |

### **geometric pull out**
Expand Down

0 comments on commit fa4fc53

Please sign in to comment.