From d7d74a7b6acbc195729d0f59a8db6db94956d5c1 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 30 May 2024 10:01:48 +0900 Subject: [PATCH] fixup! docs(avoidance): update documentation --- .../behavior_path_avoidance_module/README.md | 27 +++++++++---------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_avoidance_module/README.md b/planning/behavior_path_avoidance_module/README.md index 74dd8faaf3644..1a2eb47c34431 100644 --- a/planning/behavior_path_avoidance_module/README.md +++ b/planning/behavior_path_avoidance_module/README.md @@ -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