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update docs
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Signed-off-by: kosuke55 <[email protected]>
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kosuke55 committed Sep 4, 2023
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33 changes: 18 additions & 15 deletions planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
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Expand Up @@ -95,7 +95,7 @@ Either one is activated when all conditions are met.

#### pull over on road lane

- The distance between the goal and ego-vehicle is shorter than `minimum_request_length`.
- The distance between the goal and ego-vehicle is shorter than `pull_over_minimum_request_length`.
- Route is set with `allow_goal_modification=true` .
- We can set this option with [SetRoute](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoute.srv#L2) api service.
- We support `2D Rough Goal Pose` with the key bind `r` in RViz, but in the future there will be a panel of tools to manipulate various Route API from RViz.
Expand All @@ -105,7 +105,7 @@ Either one is activated when all conditions are met.

#### pull over on shoulder lane

- The distance between the goal and ego-vehicle is shorter than `minimum_request_length`.
- The distance between the goal and ego-vehicle is shorter than `pull_over_minimum_request_length`.
- Goal is set in the `road_shoulder`.

<img src="https://user-images.githubusercontent.com/39142679/237929941-2ce26ea5-c84d-4d17-8cdc-103f5246db90.png" width="600">
Expand All @@ -118,17 +118,11 @@ Either one is activated when all conditions are met.

## General parameters for goal_planner

| Name | Unit | Type | Description | Default value |
| :------------------------- | :----- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| minimum_request_length | [m] | double | when the ego-vehicle approaches the goal by this distance or a safe distance to stop, the module is activated. | 100.0 |
| th_arrived_distance | [m] | double | distance threshold for arrival of path termination | 1.0 |
| th_stopped_velocity | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time | [s] | double | time threshold for arrival of path termination | 2.0 |
| pull_over_velocity | [m/s] | double | decelerate to this speed by the goal search area | 3.0 |
| pull_over_minimum_velocity | [m/s] | double | speed of pull_over after stopping once. this prevents excessive acceleration. | 1.38 |
| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 |
| decide_path_distance | [m] | double | decide path if it approaches this distance relative to the parking position. after that, no path planning and goal search are performed | 10.0 |
| maximum_deceleration | [m/s2] | double | maximum deceleration. it prevents sudden deceleration when a parking path cannot be found suddenly | 1.0 |
| Name | Unit | Type | Description | Default value |
| :------------------ | :---- | :----- | :------------------------------------------------- | :------------ |
| th_arrived_distance | [m] | double | distance threshold for arrival of path termination | 1.0 |
| th_stopped_velocity | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time | [s] | double | time threshold for arrival of path termination | 2.0 |

## **collision check**

Expand Down Expand Up @@ -175,11 +169,20 @@ searched for in certain range of the shoulder lane.
| max_lateral_offset | [m] | double | maximum offset of goal search in the lateral direction | 0.5 |
| lateral_offset_interval | [m] | double | distance interval of goal search in the lateral direction | 0.25 |
| ignore_distance_from_lane_start | [m] | double | distance from start of pull over lanes for ignoring goal candidates | 15.0 |
| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 |

## **Path Generation**
## **Pull Over**

There are three path generation methods.
The path is generated with a certain margin (default: `0.5 m`) from left boundary of shoulder lane.
The path is generated with a certain margin (default: `0.5 m`) from the boundary of shoulder lane.

| Name | Unit | Type | Description | Default value |
| :------------------------------- | :----- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| pull_over_minimum_request_length | [m] | double | when the ego-vehicle approaches the goal by this distance or a safe distance to stop, pull over is activated. | 100.0 |
| pull_over_velocity | [m/s] | double | decelerate to this speed by the goal search area | 3.0 |
| pull_over_minimum_velocity | [m/s] | double | speed of pull_over after stopping once. this prevents excessive acceleration. | 1.38 |
| decide_path_distance | [m] | double | decide path if it approaches this distance relative to the parking position. after that, no path planning and goal search are performed | 10.0 |
| maximum_deceleration | [m/s2] | double | maximum deceleration. it prevents sudden deceleration when a parking path cannot be found suddenly | 1.0 |

### **shift parking**

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7 changes: 3 additions & 4 deletions planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
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Expand Up @@ -316,10 +316,9 @@ bool GoalPlannerModule::isExecutionRequested() const
// if goal arc coordinates can be calculated, check if goal is in request_length
const double self_to_goal_arc_length =
utils::getSignedDistance(current_pose, goal_pose, current_lanes);
const double request_length =
goal_planner_utils::isAllowedGoalModification(route_handler)
? calcModuleRequestLength()
: parameters_->pull_over_minimum_request_length;
const double request_length = goal_planner_utils::isAllowedGoalModification(route_handler)
? calcModuleRequestLength()
: parameters_->pull_over_minimum_request_length;
if (self_to_goal_arc_length < 0.0 || self_to_goal_arc_length > request_length) {
// if current position is far from goal or behind goal, do not execute goal_planner
return false;
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