From 29d143817702013686e86cc031616fdc219a83ff Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Thu, 1 Feb 2024 10:19:08 +0900 Subject: [PATCH] Update README.md with additional path generation feature Signed-off-by: kyoichi-sugahara --- planning/behavior_path_start_planner_module/README.md | 8 +++++++- .../images/shift_pull_out_path_in_road_lane.drawio.svg | 1 + 2 files changed, 8 insertions(+), 1 deletion(-) create mode 100644 planning/behavior_path_start_planner_module/images/shift_pull_out_path_in_road_lane.drawio.svg diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index 15998a001efc4..5911adc00a03e 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -6,7 +6,7 @@ This module generates and plans a path for safely merging from the shoulder lane Specifically, it includes the following features: -- The ability to automatically start from the shoulder lane. +- Plan the path to automatically start from the shoulder lane or side of road lane to center of road lane. - When parked vehicles are present on the shoulder lane, the module generates a path that allows for starting with a gap of a specified margin. - If a collision with other traffic participants is detected while traveling on the generated path, it will stop as much as possible. @@ -26,6 +26,12 @@ In the shoulder lane, when there are no parked vehicles ahead and the shoulder l ![shift_pull_out](images/shift_pull_out_path.drawio.svg){width=1100} +Also not only from shoulder lane, but also from side of road lane, the shift pull out path is generated. + +
+ ![shift_pull_out_in_road_lane](images/shift_pull_out_path_in_road_lane.drawio.svg){width=1100} +
+ ### **Use Case 2: Geometric pull out** In the shoulder lane, when there are objects in front and the shoulder lane is not sufficiently long behind, a geometric pull out path is generated. diff --git a/planning/behavior_path_start_planner_module/images/shift_pull_out_path_in_road_lane.drawio.svg b/planning/behavior_path_start_planner_module/images/shift_pull_out_path_in_road_lane.drawio.svg new file mode 100644 index 0000000000000..f5894f7aed0db --- /dev/null +++ b/planning/behavior_path_start_planner_module/images/shift_pull_out_path_in_road_lane.drawio.svg @@ -0,0 +1 @@ + \ No newline at end of file