diff --git a/planning/behavior_path_goal_planner_module/README.md b/planning/behavior_path_goal_planner_module/README.md index 81f5b5d42708c..84e05736c7e48 100644 --- a/planning/behavior_path_goal_planner_module/README.md +++ b/planning/behavior_path_goal_planner_module/README.md @@ -156,6 +156,8 @@ Generate footprints from ego-vehicle path points and determine obstacle collisio `object_recognition_collision_check_margin` `object_recognition_collision_check_max_extra_stopping_margin` +![collision_check_margin](./images/goal_planner-collision_check_margin.drawio.svg) + #### Parameters for object recognition based collision check | Name | Unit | Type | Description | Default value | diff --git a/planning/behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg b/planning/behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg new file mode 100644 index 0000000000000..494f80100cdb9 --- /dev/null +++ b/planning/behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg @@ -0,0 +1,4 @@ + + + +
collision_check_margin
extra_stopping_margin(v, max_decel)
extra_lateral_margin(v, κ)
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