Skip to content

Commit

Permalink
fixup! docs(avoidance): update documentation
Browse files Browse the repository at this point in the history
  • Loading branch information
@satoshi-ota
satoshi-ota committed May 30, 2024
1 parent 310b61e commit d7d74a7
Showing 1 changed file with 12 additions and 15 deletions.
27 changes: 12 additions & 15 deletions planning/behavior_path_avoidance_module/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -325,21 +325,18 @@ $$

### Overview

| Situation | Details | Ego behavior |
| -------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | -------------------------------- |
| Vehicle is within intersection area defined in HDMap. The module ignores vehicle which is following lane or merging to ego lane. | ![fig](./images/target_filter/never_avoid_intersection.png) | Never avoid it. |
| Vehicle is on ego lane. There are adjacent lanes for both side. | ![fig](./images/target_filter/never_avoid_not_edge.png) | Never avoid it. |
| Vehicle is merging to other lane from ego lane. Most part of its footprint is on ego lane. | ![fig](./images/target_filter/never_avoid_deviating.png) | Never avoid it. |
| Vehicle is merging to ego lane from other lane. Most part of its footprint is on ego lane. | ![fig](./images/target_filter/never_avoid_merging.png) | Never avoid it. |
| Vehicle is not a obvious parked vehicle and stopping in front of the crosswalk or traffic light. | ![fig](./images/target_filter/never_avoid_stop_factor.png) | Never avoid it. |
| Vehicle stops on ego lane with pulling over to the side of the road. | ![fig](./images/target_filter/avoid_on_ego_lane.png) | Avoid it immediately. |
| Vehicle stops on adjacent lane. | ![fig](./images/target_filter/avoid_not_on_ego_lane.png) | Avoid it immediately. |
| Vehicle stops on ego lane without pulling over to the side of the road. | ![fig](./images/target_filter/ambiguous_parallel.png) | It depends on parameter setting. |
| Vehicle is merging to ego lane from other lane. | ![fig](./images/target_filter/ambiguous_merging.png) | It depends on parameter setting. |
| Vehicle is merging to other lane from ego lane. | ![fig](./images/target_filter/ambiguous_deviating.png) | It depends on parameter setting. |

!!! info
Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle.
| Situation | Details | Ego behavior |
| -------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
| Vehicle is within intersection area defined in HDMap. The module ignores vehicle which is following lane or merging to ego lane. | ![fig](./images/target_filter/never_avoid_intersection.png) | Never avoid it. |
| Vehicle is on ego lane. There are adjacent lanes for both side. | ![fig](./images/target_filter/never_avoid_not_edge.png) | Never avoid it. |
| Vehicle is merging to other lane from ego lane. Most part of its footprint is on ego lane. | ![fig](./images/target_filter/never_avoid_deviating.png) | Never avoid it. |
| Vehicle is merging to ego lane from other lane. Most part of its footprint is on ego lane. | ![fig](./images/target_filter/never_avoid_merging.png) | Never avoid it. |
| Vehicle is not a obvious parked vehicle and stopping in front of the crosswalk or traffic light. | ![fig](./images/target_filter/never_avoid_stop_factor.png) | Never avoid it. |
| Vehicle stops on ego lane with pulling over to the side of the road. | ![fig](./images/target_filter/avoid_on_ego_lane.png) | Avoid it immediately. |
| Vehicle stops on adjacent lane. | ![fig](./images/target_filter/avoid_not_on_ego_lane.png) | Avoid it immediately. |
| Vehicle stops on ego lane without pulling over to the side of the road. | ![fig](./images/target_filter/ambiguous_parallel.png) | Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle. |
| Vehicle is merging to ego lane from other lane. | ![fig](./images/target_filter/ambiguous_merging.png) | Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle. |
| Vehicle is merging to other lane from ego lane. | ![fig](./images/target_filter/ambiguous_deviating.png) | Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle. |

### Object filtering flowchart

Expand Down

0 comments on commit d7d74a7

Please sign in to comment.