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danielsanchezarandanielsanchezaran
committedMar 5, 2024
update docs
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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‎planning/behavior_path_start_planner_module/README.md

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@@ -319,27 +319,28 @@ PullOutPath --o PullOutPlannerBase
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## General parameters for start_planner
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| Name | Unit | Type | Description | Default value |
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| :---------------------------------------------------------- | :---- | :----- | :-------------------------------------------------------------------------- | :------------------- |
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| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
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| 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 |
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| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
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| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
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| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
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| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
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| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
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| collision_check_margins | [m] | double | Obstacle collision check margins list | [2.0, 1.0, 0.5, 0.1] |
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| shift_collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | -10.0 |
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| geometric_collision_check_distance_from_end | [m] | double | collision check distance from end geometric end pose | 0.0 |
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| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 |
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| object_types_to_check_for_path_generation.check_car | - | bool | flag to check car for path generation | true |
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| object_types_to_check_for_path_generation.check_truck | - | bool | flag to check truck for path generation | true |
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| object_types_to_check_for_path_generation.check_bus | - | bool | flag to check bus for path generation | true |
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| object_types_to_check_for_path_generation.check_bicycle | - | bool | flag to check bicycle for path generation | true |
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| object_types_to_check_for_path_generation.check_motorcycle | - | bool | flag to check motorcycle for path generation | true |
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| object_types_to_check_for_path_generation.check_pedestrian | - | bool | flag to check pedestrian for path generation | true |
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| object_types_to_check_for_path_generation.check_unknown | - | bool | flag to check unknown for path generation | true |
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| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 |
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| Name | Unit | Type | Description | Default value |
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| :---------------------------------------------------------- | :---- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------- |
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| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
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| 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 |
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| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
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| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
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| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
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| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
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| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
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| collision_check_margins | [m] | double | Obstacle collision check margins list | [2.0, 1.0, 0.5, 0.1] |
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| shift_collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | -10.0 |
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| geometric_collision_check_distance_from_end | [m] | double | collision check distance from end geometric end pose | 0.0 |
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| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 |
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| 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 |
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| object_types_to_check_for_path_generation.check_car | - | bool | flag to check car for path generation | true |
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| object_types_to_check_for_path_generation.check_truck | - | bool | flag to check truck for path generation | true |
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| object_types_to_check_for_path_generation.check_bus | - | bool | flag to check bus for path generation | true |
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| object_types_to_check_for_path_generation.check_bicycle | - | bool | flag to check bicycle for path generation | true |
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| object_types_to_check_for_path_generation.check_motorcycle | - | bool | flag to check motorcycle for path generation | true |
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| object_types_to_check_for_path_generation.check_pedestrian | - | bool | flag to check pedestrian for path generation | true |
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| object_types_to_check_for_path_generation.check_unknown | - | bool | flag to check unknown for path generation | true |
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| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 |
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### **Ego vehicle's velocity planning**
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