Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: add a part of important planning parameters' explanation #338

Merged
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 11 additions & 1 deletion docs/design/autoware-architecture/planning/index.md
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,16 @@ For more details, please refer to the design documents in each package.

![supported-functions](image/planning-functions.drawio.svg)

## Important Parameters

| Package | Parameter | Type | Description |
| ---------------------------- | ------------------------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------ |
| `obstacle_stop_planner` | `stop_planner.stop_position.max_longitudinal_margin` | double | distance between the ego and the front vehicle when stopping (when `cruise_planner_type:=obstacle_stop_planner`) |
| `obstacle_cruise_planner` | `common.safe_distance_margin` | double | distance between the ego and the front vehicle when stopping (when `cruise_planner_type:=obstacle_cruise_planner`) |
| `behavior_path_planner` | `avoidance.avoidance.lateral.lateral_collision_margin` | double | minimum lateral margin to obstacle on avoidance |
| `behavior_path_planner` | `avoidance.avoidance.lateral.lateral_collision_safety_buffer` | double | additional lateral margin to obstacle if possible on avoidance |
| `obstacle_avoidance_planner` | `option.enable_outside_drivable_area_stop` | bool | If set true, a stop point will be inserted before the path footprint is outside the drivable area. |

## Notation

### [1] self-crossing road and overlapped
Expand All @@ -99,6 +109,6 @@ Currently, the supported modules are as follows.
- obstacle_stop_planner
- motion_velocity_smoother

#### [2] Size of Path Points
### [2] Size of Path Points

Some functions do not support paths with only one point. Therefore, each modules should generate the path with more than two path points.