From f1a556c8db61187e298ed7d0c15b779b76115bcf Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 28 Dec 2023 09:07:20 +0900 Subject: [PATCH] docs(surround_obstacle_checker): add descriptions of some parameters (#5977) Signed-off-by: tomoya.kimura --- planning/surround_obstacle_checker/README.md | 21 ++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/planning/surround_obstacle_checker/README.md b/planning/surround_obstacle_checker/README.md index 80bb56ff843c4..071701c024685 100644 --- a/planning/surround_obstacle_checker/README.md +++ b/planning/surround_obstacle_checker/README.md @@ -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