From 378bf3a14c14e8b74de2228bb8e2fe726640c555 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 22 Jan 2024 13:59:15 +0900 Subject: [PATCH] docs(side_shift): update side shift document (#6123) * update side shift document Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../behavior_path_side_shift_module/README.md | 25 ++++- .../images/side_shift_status.drawio.svg | 101 ++++++++++++++++++ 2 files changed, 125 insertions(+), 1 deletion(-) create mode 100644 planning/behavior_path_side_shift_module/images/side_shift_status.drawio.svg diff --git a/planning/behavior_path_side_shift_module/README.md b/planning/behavior_path_side_shift_module/README.md index b76e549eb602f..6a460d8423cbd 100644 --- a/planning/behavior_path_side_shift_module/README.md +++ b/planning/behavior_path_side_shift_module/README.md @@ -2,6 +2,29 @@ (For remote control) Shift the path to left or right according to an external instruction. +## Overview of the Side Shift Module Process + +1. Receive the required lateral offset input. +2. Update the `requested_lateral_offset_` under the following conditions: + a. Verify if the last update time has elapsed. + b. Ensure the required lateral offset value is different from the previous one. +3. Insert the shift points into the path if the side shift module's status is not in the SHIFTING status. + +Please be aware that `requested_lateral_offset_` is continuously updated with the latest values and is not queued. + +## Statuses of the Side Shift + +The side shift has three distinct statuses. Note that during the SHIFTING status, the path cannot be updated: + +1. BEFORE_SHIFT: Preparing for shift. +2. SHIFTING: Currently in the process of shifting. +3. AFTER_SHIFT: Shift completed. + +
+ ![case1](images/side_shift_status.drawio.svg){width=1000} +
side shift status
+
+ ## Flowchart ```plantuml @@ -27,7 +50,7 @@ stop @enduml ``` -```plantuml --> +```plantuml @startuml skinparam monochrome true skinparam defaultTextAlignment center diff --git a/planning/behavior_path_side_shift_module/images/side_shift_status.drawio.svg b/planning/behavior_path_side_shift_module/images/side_shift_status.drawio.svg new file mode 100644 index 0000000000000..447a00236d2b6 --- /dev/null +++ b/planning/behavior_path_side_shift_module/images/side_shift_status.drawio.svg @@ -0,0 +1,101 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+ + SideShiftStatus + + ::SHIFTING +
+ + +
+
+ + +
+
+ SideShiftStatus + ::BEFORE_SHIFT + +
+ +
+
+ + +
+
SIDE SHIFT START POINT
+
+ + +
+
SIDE SHIFT END POINT
+
+ + +
+
+ SideShiftStatus + ::AFTER_SHIFT + +
+ +
+
+ +