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docs(start_planner): update collision_check_distance_from_end #6417

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Feb 15, 2024
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docs(start_planner): update collision_check_distance_from_end #6417

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docs(start_planner): update collision_check_distance_from_end
shmpwk Feb 15, 2024
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style(pre-commit): autofix
pre-commit-ci[bot] Feb 15, 2024
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27 changes: 14 additions & 13 deletions planning/behavior_path_start_planner_module/README.md
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Expand Up @@ -319,19 +319,20 @@ PullOutPath --o PullOutPlannerBase

## General parameters for start_planner

| Name | Unit | Type | Description | Default value |
| :---------------------------------------------------------- | :---- | :------- | :-------------------------------------------------------------------------- | :-------------- |
| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
| 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 |
| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
| collision_check_margins | [m] | [double] | Obstacle collision check margins list | [2.0, 1.5, 1.0] |
| collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | 1.0 |
| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 |
| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 |
| Name | Unit | Type | Description | Default value |
| :---------------------------------------------------------- | :---- | :----- | :-------------------------------------------------------------------------- | :------------------- |
| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
| 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 |
| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
| collision_check_margins | [m] | double | Obstacle collision check margins list | [2.0, 1.0, 0.5, 0.1] |
| shift_collision_check_distance_from_end | [m] | double | collision check distance from end shift end pose | -10.0 |
| geometric_collision_check_distance_from_end | [m] | double | collision check distance from end geometric end pose | 0.0 |
| collision_check_margin_from_front_object | [m] | double | collision check margin from front object | 5.0 |
| center_line_path_interval | [m] | double | reference center line path point interval | 1.0 |

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

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