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docs(surround_obstacle_checker): add descriptions of some parameters (a…
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…utowarefoundation#5977)

Signed-off-by: tomoya.kimura <[email protected]>
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@tkimura4 @karishma1911
tkimura4 authored and karishma1911 committed Jun 3, 2024
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Expand Up @@ -103,16 +103,17 @@ As mentioned in stop condition section, it prevents chattering by changing thres

{{ json_to_markdown("planning/surround_obstacle_checker/schema/surround_obstacle_checker.schema.json") }}

| Name | Type | Description | Default value |
| :-------------------------------- | :------- | :------------------------------------------------------------------------------------- | :------------ |
| `use_pointcloud` | `bool` | Use pointcloud as obstacle check | `true` |
| `use_dynamic_object` | `bool` | Use dynamic object as obstacle check | `true` |
| `surround_check_distance` | `double` | If objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] | 0.5 |
| `surround_check_recover_distance` | `double` | If no object exists in this distance, transit to "non-surrounding-obstacle" status [m] | 0.8 |
| `state_clear_time` | `double` | Threshold to clear stop state [s] | 2.0 |
| `stop_state_ego_speed` | `double` | Threshold to check ego vehicle stopped [m/s] | 0.1 |
| `stop_state_entry_duration_time` | `double` | Threshold to check ego vehicle stopped [s] | 0.1 |
| `publish_debug_footprints` | `bool` | Publish vehicle footprint with/without offsets | `true` |
| Name | Type | Description | Default value |
| :----------------------------------- | :------- | :----------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------- |
| `enable_check` | `bool` | Indicates whether each object is considered in the obstacle check target. | `true` for objects; `false` for point clouds |
| `surround_check_front_distance` | `bool` | If there are objects or point clouds within this distance in front, transition to the "exist-surrounding-obstacle" status [m]. | 0.5 |
| `surround_check_side_distance` | `double` | If there are objects or point clouds within this side distance, transition to the "exist-surrounding-obstacle" status [m]. | 0.5 |
| `surround_check_back_distance` | `double` | If there are objects or point clouds within this back distance, transition to the "exist-surrounding-obstacle" status [m]. | 0.5 |
| `surround_check_hysteresis_distance` | `double` | If no object exists within `surround_check_xxx_distance` plus this additional distance, transition to the "non-surrounding-obstacle" status [m]. | 0.3 |
| `state_clear_time` | `double` | Threshold to clear stop state [s] | 2.0 |
| `stop_state_ego_speed` | `double` | Threshold to check ego vehicle stopped [m/s] | 0.1 |
| `stop_state_entry_duration_time` | `double` | Threshold to check ego vehicle stopped [s] | 0.1 |
| `publish_debug_footprints` | `bool` | Publish vehicle footprint with/without offsets | `true` |

## Assumptions / Known limits

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