From aa095a838a6f3eb2a2de607007dc4a401f60b871 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 31 Jan 2024 17:01:59 +0900 Subject: [PATCH 1/4] docs(lane_change): add description for lane expansion Signed-off-by: Fumiya Watanabe --- planning/behavior_path_lane_change_module/README.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index bffa5201f2882..135487a56dab1 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -361,6 +361,13 @@ The following parameters are configurable in `lane_change.param.yaml`. The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`. +#### common + +| Name | Unit | Type | Description | Default value | +| :----------------------------------------- | ---- | ------ | -------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.lane_expansion.left_offset` | [m] | double | When it detects objects for safety check, it will expand corresponding lane with this left offset. | 0.0 | +| `safety_check.lane_expansion.right_offset` | [m] | double | When it detects objects for safety check, it will expand corresponding lane with this right offset.confidence. | 0.0 | + #### execution | Name | Unit | Type | Description | Default value | From 88c998b91a08a11a94325c9f2181fbec0369990f Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 31 Jan 2024 17:47:10 +0900 Subject: [PATCH 2/4] Update planning/behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- planning/behavior_path_lane_change_module/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 135487a56dab1..2e61108f3f768 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -365,7 +365,7 @@ The following parameters are configurable in `behavior_path_planner.param.yaml` | Name | Unit | Type | Description | Default value | | :----------------------------------------- | ---- | ------ | -------------------------------------------------------------------------------------------------------------- | ------------- | -| `safety_check.lane_expansion.left_offset` | [m] | double | When it detects objects for safety check, it will expand corresponding lane with this left offset. | 0.0 | +| `safety_check.lane_expansion.left_offset` | [m] | double | Expand the left boundary of the detection area, allowing objects previously outside on the left to be detected and registered as targets. | 0.0 | | `safety_check.lane_expansion.right_offset` | [m] | double | When it detects objects for safety check, it will expand corresponding lane with this right offset.confidence. | 0.0 | #### execution From 13c762f5496d1f5726245fef7d82e23f10bfb3d7 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 31 Jan 2024 17:47:16 +0900 Subject: [PATCH 3/4] Update planning/behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- planning/behavior_path_lane_change_module/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 2e61108f3f768..355793a015524 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -366,7 +366,7 @@ The following parameters are configurable in `behavior_path_planner.param.yaml` | Name | Unit | Type | Description | Default value | | :----------------------------------------- | ---- | ------ | -------------------------------------------------------------------------------------------------------------- | ------------- | | `safety_check.lane_expansion.left_offset` | [m] | double | Expand the left boundary of the detection area, allowing objects previously outside on the left to be detected and registered as targets. | 0.0 | -| `safety_check.lane_expansion.right_offset` | [m] | double | When it detects objects for safety check, it will expand corresponding lane with this right offset.confidence. | 0.0 | +| `safety_check.lane_expansion.right_offset` | [m] | double | Expand the right boundary of the detection area, allowing objects previously outside on the right to be detected and registered as targets. | 0.0 | #### execution From b7b4e7abc2bb2da84b97e57ac5adac74be25e353 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 31 Jan 2024 08:50:00 +0000 Subject: [PATCH 4/4] style(pre-commit): autofix --- planning/behavior_path_lane_change_module/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 355793a015524..9ff8939862c65 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -363,9 +363,9 @@ The following parameters are configurable in `behavior_path_planner.param.yaml` #### common -| Name | Unit | Type | Description | Default value | -| :----------------------------------------- | ---- | ------ | -------------------------------------------------------------------------------------------------------------- | ------------- | -| `safety_check.lane_expansion.left_offset` | [m] | double | Expand the left boundary of the detection area, allowing objects previously outside on the left to be detected and registered as targets. | 0.0 | +| Name | Unit | Type | Description | Default value | +| :----------------------------------------- | ---- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.lane_expansion.left_offset` | [m] | double | Expand the left boundary of the detection area, allowing objects previously outside on the left to be detected and registered as targets. | 0.0 | | `safety_check.lane_expansion.right_offset` | [m] | double | Expand the right boundary of the detection area, allowing objects previously outside on the right to be detected and registered as targets. | 0.0 | #### execution