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doc/research/paf24/planning/Unstuck_Overtake Behavior.md

@@ -35,7 +35,7 @@ The "unstuck" behavior is designed to address situations where the vehicle becom
 
 ### How unstuck is triggered
 
-The method `__get_speed_unstuck` checks the current behavior (e.g., `us_unstuck`), adjusting speed accordingly and invoking `overtake_fallback` if an obstacle is detected and the vehicle is in an "unstuck" situation. 
+The method `__get_speed_unstuck` checks the current behavior (e.g., `us_unstuck`), adjusting speed accordingly and invoking `overtake_fallback` if an obstacle is detected and the vehicle is in an "unstuck" situation.
 
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@@ -55,7 +55,7 @@ The overtake behavior allows the vehicle to safely overtake a slower-moving or s
 
 ### How overtake is triggered
 
-The method `__set_curr_behavior` monitors the vehicle’s behavior, triggering an overtake when `ot_enter_init` behavior is detected and if an obstacle or collision point is near. It then calls `change_trajectory` to modify the route. 
+The method `__set_curr_behavior` monitors the vehicle’s behavior, triggering an overtake when `ot_enter_init` behavior is detected and if an obstacle or collision point is near. It then calls `change_trajectory` to modify the route.
 
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@@ -151,4 +151,6 @@ The trajectory generated for overtaking often leads to incorrect paths, such as
 - `__get_speed_unstuck`: Include checks for nearby vehicles and their speeds. Make `UNSTUCK_OVERTAKE_FLAG_CLEAR_DISTANCE` dynamic.
 - `__check_emergency`: Currently, it only considers whether the vehicle is in a parking behavior state. Expand this method to evaluate various emergency conditions (e.g., obstacles detected by sensors) and initiate appropriate responses (e.g., stopping or rerouting).
 - `get_speed_by_behavior`: Consider feedback from sensors regarding current traffic conditions.
-- `__calc_corner_points`: Consider a more intelligent approach rather than relying on simple angle thresholds.
+- `__calc_corner_points`: Consider a more intelligent approach rather than relying on simple angle thresholds.
+
+---