From 811fc1ac5b00d3faa5867e4ee9059aa8b13e082b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 27 Nov 2023 13:05:24 +0900 Subject: [PATCH] fix typo Signed-off-by: Mamoru Sobue --- .../behavior_velocity_intersection_module/README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_intersection_module/README.md index ec7f8ee64faaf..8716f6d1258e0 100644 --- a/planning/behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_intersection_module/README.md @@ -435,13 +435,13 @@ By lowering `common.attention_area_length` you can check which lanes are conflic ### The stop line of intersection is chattering -The parameter `collision_detection.collision_detection_hold_time` suppresses the chattering by keeping UNSAFE decision for this duration until SAFE decision is finally made. The role of thie parameter is to account for unstable detection/tracking of objects. By increasing this value you can suppress the chattering. However it could elongate the stopping duration excessively. +The parameter `collision_detection.collision_detection_hold_time` suppresses the chattering by keeping UNSAFE decision for this duration until SAFE decision is finally made. The role of this parameter is to account for unstable detection/tracking of objects. By increasing this value you can suppress the chattering. However it could elongate the stopping duration excessively. If the chattering arises from the acceleration/deceleration of target vehicles, increase `collision_detection.collision_detection.collision_end_margin_time` and/or `collision_detection.collision_detection.collision_end_margin_time`. ### The stop line is released too fast/slow -If the intersection wall appears too fast, or ego tends to stop too conservatively for upcoming vehicls, lower the parameter `collision_detection.collision_detection.collision_start_margin_time`. If it lasts too long after the target vehicle passed, then lower the parameter `collision_detection.collision_detection.collision_end_margin_time`. +If the intersection wall appears too fast, or ego tends to stop too conservatively for upcoming vehicles, lower the parameter `collision_detection.collision_detection.collision_start_margin_time`. If it lasts too long after the target vehicle passed, then lower the parameter `collision_detection.collision_detection.collision_end_margin_time`. ### Ego suddenly stops at intersection with traffic light @@ -459,16 +459,16 @@ If you want to care the occlusion nearby ego more cautiously, set `occlusion.occ #### occupancy grid map tuning -Refer to the document of [probabilistic_occpancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them. +Refer to the document of [probabilistic_occypancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them. #### in simple_planning_simulator -intersection_occlusion feature is **not recommended** for use in plannig_simulator because the laserscan_based_occpancy_grid_map generates unnatural UNKNOWN cells in 2D manner: +intersection_occlusion feature is **not recommended** for use in planning_simulator because the laserscan_based_occupancy_grid_map generates unnatural UNKNOWN cells in 2D manner: - all the cells behind pedestrians are UNKNOWN - no ground point clouds are generated -Also oftenwise the user does not set trafic light information although it is very critical for intersection_occlusion (and in real traffic environment too). +Also many users do not set traffic light information frequently although it is very critical for intersection_occlusion (and in real traffic environment too). For these reasons, `occlusion.enable` is false by default.