Update docu

doc/planning/Collision_Check.md

@@ -3,12 +3,11 @@
 **Summary:** This module is responsible for detecting collisions and reporting them. It subscribes to topics that provide information about the current speed of the vehicle and the distances to objects detected by a LIDAR sensor.
 It publishes topics that provide information about emergency stops, the distance to collisions, the distance to oncoming traffic, and the approximated speed of the obstacle in front.
 
-- [Collision Check](#collision-check)
-  - [Component](#component)
-  - [ROS Data Interface](#ros-data-interface)
-    - [Published Topics](#published-topics)
-    - [Subscribed Topics](#subscribed-topics)
-  - [Node Creation + Running Tests](#node-creation--running-tests)
+- [Component](#component)
+- [ROS Data Interface](#ros-data-interface)
+  - [Published Topics](#published-topics)
+  - [Subscribed Topics](#subscribed-topics)
+- [Node Creation + Running Tests](#node-creation--running-tests)
 
 ## Component
 

doc/planning/Global_Planner.md

@@ -1,11 +1,10 @@
 # Global Planner
 
 **Summary:** [global_planner.py](.../code/planning/global_planner/src/global_planner.py):
-The global planner is responsible for collecting and preparing all data from the leaderboard and other intern
+The global planner is responsible for collecting and preparing all data from the leaderboard and other internal
 components that is needed for the preplanning component.
 After finishing that this node initiates the calculation of a trajectory based on the OpenDriveConverter
-from preplanning_trajectory.py. In the end the computed trajectory and prevailing speed limits are published
-to the other components of this project (acting, decision making,...).
+from preplanning_trajectory.py. In the end the computed trajectory and prevailing speed limits are published.
 
 This component and so most of the documentation was taken from the previous project PAF22 (Authors: Simon Erlbacher, Niklas Vogel)
 

doc/planning/README.md

@@ -10,11 +10,10 @@ from the leaderboard with the belonging actions. For example action number 3 mea
 
 ### [Global plan](./Global_Planner.md)
 
-The global planner is responsible for collecting and preparing all data from the leaderboard and other intern
+The global planner is responsible for collecting and preparing all data from the leaderboard and other internal
 components that is needed for the preplanning component.
 After finishing that this node initiates the calculation of a trajectory based on the OpenDriveConverter
-from preplanning_trajectory.py. In the end the computed trajectory and prevailing speed limits are published
-to the other components of this project (acting, decision making,...).
+from preplanning_trajectory.py. In the end the computed trajectory and prevailing speed limits are published.
 
 ![img.png](../assets/Global_Plan.png)
 

doc/research/paf24/planning/local_v_global_planning.md

@@ -17,3 +17,15 @@ Global planning consits of the PrePlanner Node and the OpenDriveConverter.
 
 ## Local Planning
 
+Local planning consists of the ACC, CollisionCheck and MotionPlanning nodes. It uses information from the Global Planning to make decisions in the local environment of the ego vehicle. It creates a trajectory based on the global trajectory and the current position of the vehicle that is used by the acting component.
+
+- ACC: The Adaptive Cruise Control node is responsible for calculating the desired speed of the vehicle based on the current speed, trajectory, and speed limits.
+  - receives Speed from `/carla/hero/Speed`
+  - receives speed limits from `/paf/hero/speed_limits_OpenDrive`
+  - receives global trajectory from `/paf/hero/trajectory_global`
+- CollisionCheck: The Collision Check node is responsible for detecting collisions and reporting them.
+  - receives current speed from `/carla/hero/Speed`
+  - receives distances to objects detected by a LIDAR sensor from `/paf/hero/Center/object_distance`
+- MotionPlanning: The Motion Planning node is responsible for calculating the desired trajectory based on the current position of the vehicle and the global trajectory.
+  - receives speed information from ACC
+  - receives global trajectory from `/paf/hero/trajectory_global`