diff --git a/planning/obstacle_stop_planner/README.md b/planning/obstacle_stop_planner/README.md index 95274b6a4829d..9c8fc714fb9c1 100644 --- a/planning/obstacle_stop_planner/README.md +++ b/planning/obstacle_stop_planner/README.md @@ -11,13 +11,20 @@ - Adaptive Cruise Controller (ACC) - embeds target velocity in trajectory when there is a dynamic point cloud on the trajectory. -When the stop point that has 0 velocity is inserted, the point is inserted in front of the target point cloud by the distance of `baselink to front` + `stop margin`. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. `stop margin` is determined by the parameters described below. +In order to stop with a `stop margin` from the obstacle exists, the stop point (`v=0`) is inserted at a distance of `baselink to front` + `stop margin` from the obstacle. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. -![insert_stop_velocity](./docs/insert_velocity.drawio.svg) +If a stop point has already been inserted by other nodes between the obstacle and a position which is `stop margin` meters away from the obstacle, the stop point is inserted at a distance of `baselink to front` + `min behavior stop margin` from the obstacle. + +
+ + +
When the deceleration section is inserted, the start point of the section is inserted in front of the target point cloud by the distance of `baselink to front` + `slow down forward margin`. the end point of the section is inserted behind the target point cloud by the distance of `slow down backward margin` + `baselink to rear`. The `baselink to rear` means the distance between `base_link` and rear of the car. The velocities of points in the deceleration section are modified to the deceleration velocity. `slow down backward margin` and `slow down forward margin` are determined by the parameters described below. -![insert_stop_velocity](./docs/insert_decel_velocity.drawio.svg) +
+ +
## Input topics diff --git a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg index 80cb8c2ed5016..a49853974a2f9 100644 --- a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg +++ b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg @@ -1,269 +1,4 @@ - - - - - - - -
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- - - baselink to rear - - - - - - - - - Viewer does not support full SVG 1.1 - - - - \ No newline at end of file + + + +
Obstacle
Obsta...
velocity
velocity
travel
distance
travel...
baselink to front
baselink to front
slow down forward margin
slow down forward margin
reference velocity
reference velocity
output velocity
output velocity
slow down backward margin
slow down backwa...
baselink to rear
baselink to rear
slow down
velocity
slow down...Text is not SVG - cannot display \ No newline at end of file diff --git a/planning/obstacle_stop_planner/docs/insert_velocity1.drawio.svg b/planning/obstacle_stop_planner/docs/insert_velocity1.drawio.svg new file mode 100644 index 0000000000000..dd1054e17fb14 --- /dev/null +++ b/planning/obstacle_stop_planner/docs/insert_velocity1.drawio.svg @@ -0,0 +1,4 @@ + + + +
Obstacle
Obsta...
velocity
velocity
baselink to front
baselink to front
stop margin
stop margin
reference velocity
reference velocity
output velocity
output velocity
travel
distance
travel...Text is not SVG - cannot display \ No newline at end of file diff --git a/planning/obstacle_stop_planner/docs/insert_velocity2.drawio.svg b/planning/obstacle_stop_planner/docs/insert_velocity2.drawio.svg new file mode 100644 index 0000000000000..941668f909b60 --- /dev/null +++ b/planning/obstacle_stop_planner/docs/insert_velocity2.drawio.svg @@ -0,0 +1,4 @@ + + + +
Obstacle
Obsta...
velocity
velocity
baselink to front
baselink to front
min behavior stop margin
min behavior stop margin
reference velocity
reference velocity
output velocity
output velocity
travel
distance
travel...
stop point
(inserted by other nodes)
stop point...Text is not SVG - cannot display \ No newline at end of file