diff --git a/control/control_validator/src/utils.cpp b/control/control_validator/src/utils.cpp index fa8261e9c3f95..fab8b9f6f888b 100644 --- a/control/control_validator/src/utils.cpp +++ b/control/control_validator/src/utils.cpp @@ -104,10 +104,10 @@ Trajectory alignTrajectoryWithReferenceTrajectory( // If first point of predicted_trajectory is in front of start of trajectory, erase points which // are in front of trajectory start point and insert pNew along the predicted_trajectory - // predicted_trajectory: 　　　　p1-----p2-----p3----//------pN + // predicted_trajectory: p1-----p2-----p3----//------pN // trajectory: t1--------//------tN // ↓ - // predicted_trajectory: 　　　　 pNew--p3----//------pN + // predicted_trajectory: pNew--p3----//------pN // trajectory: t1--------//------tN auto predicted_trajectory_point_removed = removeFrontTrajectoryPoint( trajectory_points, modified_trajectory_points, predicted_trajectory_points); @@ -119,7 +119,7 @@ Trajectory alignTrajectoryWithReferenceTrajectory( // If last point of predicted_trajectory is behind of end of trajectory, erase points which are // behind trajectory last point and insert pNew along the predicted_trajectory - // predicted_trajectory: 　　　　p1-----//------pN-2-----pN-1-----pN + // predicted_trajectory: p1-----//------pN-2-----pN-1-----pN // trajectory: t1-----//-----tN-1--tN // ↓ // predicted_trajectory: p1-----//------pN-2-pNew diff --git a/perception/map_based_prediction/images/inside_road.svg b/perception/map_based_prediction/images/inside_road.svg index 2336813635269..d5383a419aa90 100644 --- a/perception/map_based_prediction/images/inside_road.svg +++ b/perception/map_based_prediction/images/inside_road.svg @@ -211,7 +211,7 @@ >
- output predicted paths toward　both exit points + output predicted paths toward both exit points
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp index 95c23d8e42019..e7bf8030cddf8 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp @@ -79,7 +79,7 @@ class Tracker const rclcpp::Time & time) const; /* - *　Pure virtual function + * Pure virtual function */ protected: diff --git a/perception/radar_object_tracker/include/radar_object_tracker/tracker/model/tracker_base.hpp b/perception/radar_object_tracker/include/radar_object_tracker/tracker/model/tracker_base.hpp index 4e113ac47f57f..12cdd4bfe3d73 100644 --- a/perception/radar_object_tracker/include/radar_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/radar_object_tracker/include/radar_object_tracker/tracker/model/tracker_base.hpp @@ -79,7 +79,7 @@ class Tracker const rclcpp::Time & time) const; /* - *　Pure virtual function + * Pure virtual function */ protected: diff --git a/planning/behavior_path_avoidance_module/README.md b/planning/behavior_path_avoidance_module/README.md index 122ad7adcce9e..dc6ab0ec4b6e1 100644 --- a/planning/behavior_path_avoidance_module/README.md +++ b/planning/behavior_path_avoidance_module/README.md @@ -6,7 +6,7 @@ This is a rule-based path planning module designed for obstacle avoidance. This module is designed for rule-based avoidance that is easy for developers to design its behavior. It generates avoidance path parameterized by intuitive parameters such as lateral jerk and avoidance distance margin. This makes it possible to pre-define avoidance behavior. -In addition, the approval interface of behavior_path_planner allows external users / modules (e.g. remote operation) to intervene the decision of the vehicle behavior.　 This function is expected to be used, for example, for remote intervention in emergency situations or gathering information on operator decisions during development. +In addition, the approval interface of behavior_path_planner allows external users / modules (e.g. remote operation) to intervene the decision of the vehicle behavior. This function is expected to be used, for example, for remote intervention in emergency situations or gathering information on operator decisions during development. ### Limitations @@ -934,7 +934,7 @@ namespace: `avoidance.constraints.longitudinal.` ## Future extensions / Unimplemented parts - **Planning on the intersection** - - If it is known that the ego vehicle is going to stop in the middle of avoidance execution (for example, at a red traffic light), sometimes the avoidance should not be executed until the vehicle is ready to move. This is because it is impossible to predict how the environment will change during the stop.　 This is especially important at intersections. + - If it is known that the ego vehicle is going to stop in the middle of avoidance execution (for example, at a red traffic light), sometimes the avoidance should not be executed until the vehicle is ready to move. This is because it is impossible to predict how the environment will change during the stop. This is especially important at intersections. ![fig1](./images/intersection_problem.drawio.svg) @@ -956,7 +956,7 @@ namespace: `avoidance.constraints.longitudinal.` - Essentially, avoidance targets are judged based on whether they are static objects or not. For example, a vehicle waiting at a traffic light should not be avoided because we know that it will start moving in the future. However this decision cannot be made in the current Autoware due to the lack of the perception functions. Therefore, the current avoidance module limits the avoidance target to vehicles parked on the shoulder of the road, and executes avoidance only for vehicles that are stopped away from the center of the lane. However, this logic cannot avoid a vehicle that has broken down and is stopped in the center of the lane, which should be recognized as a static object by the perception module. There is room for improvement in the performance of this decision. - **Resampling path** - - Now the rough resolution resampling is processed to the output path in order to reduce the computational cost for the later modules. This resolution is set to a uniformly large value 　(e.g. `5m`), but small resolution should be applied for complex paths. + - Now the rough resolution resampling is processed to the output path in order to reduce the computational cost for the later modules. This resolution is set to a uniformly large value (e.g. `5m`), but small resolution should be applied for complex paths. ## How to debug diff --git a/planning/behavior_path_goal_planner_module/README.md b/planning/behavior_path_goal_planner_module/README.md index dbdb540b2ead4..2b7a59b2e164d 100644 --- a/planning/behavior_path_goal_planner_module/README.md +++ b/planning/behavior_path_goal_planner_module/README.md @@ -214,7 +214,7 @@ The main thread will be the one called from the planner manager flow. | decide_path_distance | [m] | double | decide path if it approaches this distance relative to the parking position. after that, no path planning and goal search are performed | 10.0 | | maximum_deceleration | [m/s2] | double | maximum deceleration. it prevents sudden deceleration when a parking path cannot be found suddenly | 1.0 | | path_priority | [-] | string | In case `efficient_path` use a goal that can generate an efficient path which is set in `efficient_path_order`. In case `close_goal` use the closest goal to the original one. | efficient_path | -| efficient_path_order | [-] | string | efficient order of pull over planner along lanes　excluding freespace pull over | ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] | +| efficient_path_order | [-] | string | efficient order of pull over planner along lanes excluding freespace pull over | ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] | ### **shift parking** @@ -365,18 +365,18 @@ This method integrates the footprints of egos and objects at a given time and ch In addition, the safety check has a time hysteresis, and if the path is judged "safe" for a certain period of time(`keep_unsafe_time`), it is finally treated as "safe". ```txt - 　　 ==== is_safe - 　　 ---- current_is_safe - 　　 is_safe - 　　 ^ - 　　 | - 　　 | time - 　　 1 +--+ +---+ +---========= +--+ - 　　 | | | | | | | | - 　　 | | | | | | | | - 　　 | | | | | | | | - 　　 | | | | | | | | - 　　 0 =========================-------==========--> t + ==== is_safe + ---- current_is_safe + is_safe + ^ + | + | time + 1 +--+ +---+ +---========= +--+ + | | | | | | | | + | | | | | | | | + | | | | | | | | + | | | | | | | | + 0 =========================-------==========--> t ``` ### Parameters for safety check diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp index e487d9d2ae0b2..f228ecc378c28 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp @@ -36,7 +36,7 @@ class GoalSearcher : public GoalSearcherBase GoalCandidates search() override; void update(GoalCandidates & goal_candidates) const override; - // todo(kosuke55):　Functions for this specific use should not be in the interface, + // todo(kosuke55): Functions for this specific use should not be in the interface, // so it is better to consider interface design when we implement other goal searchers. GoalCandidate getClosetGoalCandidateAlongLanes( const GoalCandidates & goal_candidates) const override; diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 9558579fd6ddc..6e92fbbbba074 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -2020,17 +2020,17 @@ std::pair GoalPlannerModule::isSafePath() const }); /* - *　　 ==== is_safe - *　　 ---- current_is_safe - *　　 is_safe - *　　 | - *　　 | time - *　　 1 +--+ +---+ +---========= +--+ - *　　 | | | | | | | | - *　　 | | | | | | | | - *　　 | | | | | | | | - *　　 | | | | | | | | - *　　 0 =========================-------==========-- t + * ==== is_safe + * ---- current_is_safe + * is_safe + * | + * | time + * 1 +--+ +---+ +---========= +--+ + * | | | | | | | | + * | | | | | | | | + * | | | | | | | | + * | | | | | | | | + * 0 =========================-------==========-- t */ if (current_is_safe) { if ( diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 9ff8939862c65..c7be2d2ef8af9 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -163,7 +163,7 @@ First, we divide the target objects into obstacles in the target lane, obstacles ![object lanes](./images/lane_objects.drawio.svg) -Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light.　The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_avoidance_module/README.md). +Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light. The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_avoidance_module/README.md). ##### Collision check in prepare phase diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 3eb5eca5954fb..d2f58e7d7e017 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -505,7 +505,7 @@ void BehaviorPathPlannerNode::publish_reroute_availability() const { // In the current behavior path planner, we might encounter unexpected behavior when rerouting // while modules other than lane following are active. If non-lane-following module except - // always-executable module is approved and running, rerouting will not be　possible. + // always-executable module is approved and running, rerouting will not be possible. RerouteAvailability is_reroute_available; is_reroute_available.stamp = this->now(); if (planner_manager_->hasNonAlwaysExecutableApprovedModules()) { diff --git a/planning/behavior_velocity_occlusion_spot_module/README.md b/planning/behavior_velocity_occlusion_spot_module/README.md index b0b774defbdf8..36b620df6567b 100644 --- a/planning/behavior_velocity_occlusion_spot_module/README.md +++ b/planning/behavior_velocity_occlusion_spot_module/README.md @@ -119,11 +119,11 @@ The maximum slowdown velocity is calculated from the below parameters of ego cur | `use_object_info` | bool | [-] whether to reflect object info to occupancy grid map or not. | | `use_partition_lanelet` | bool | [-] whether to use partition lanelet map data. | -| Parameter /debug | Type | Description | -| ------------------------- | ---- | ---------------------------------------------- | -| `is_show_occlusion` | bool | [-] whether to show occlusion point markers.　 | -| `is_show_cv_window` | bool | [-] whether to show open_cv debug window. | -| `is_show_processing_time` | bool | [-] whether to show processing time. | +| Parameter /debug | Type | Description | +| ------------------------- | ---- | -------------------------------------------- | +| `is_show_occlusion` | bool | [-] whether to show occlusion point markers. | +| `is_show_cv_window` | bool | [-] whether to show open_cv debug window. | +| `is_show_processing_time` | bool | [-] whether to show processing time. | | Parameter /threshold | Type | Description | | ----------------------- | ------ | --------------------------------------------------------- | diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index e0181065150fd..fb5b84f08dcd4 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp @@ -790,7 +790,7 @@ bool MissionPlanner::check_reroute_safety( * +-----------+-----------+-----------+-----------+-----------+ * | | | | | | * +-----------+-----------+-----------+-----------+-----------+ - * 　　　　　　　　　　　　　　　original original original + * original original original * target target target target target */ const auto original_front_primitives = original_route.segments.front().primitives;