docs(bpp_static_obstacle_avoidance): add documentation #7554
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| As the hard margin parameters the distance which the user definitely want to keep, they are used in the logic to check whether the ego can pass side of the target object without avoidance maneuver as well. | ||
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| If the lateral distance is less than `hard_margin`/`hard_margin_for_parked_vehicle` when assuming that the ego follows current lane without avoidance maneuver, this module thinks the ego can pass the side of the object safely and the ego must avoid it. In this case, this module inserts stop point until the avoidance maneuver is allowed to execute so that the ego can avoid the object after approval. (e.g. The ego keeps stopping in front of such a object until operator approves avoidance maneuver if user uses this module in MANUAL mode.) |
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I couldn't understand the part "this module thinks the ego can pass the side of the object safely and the ego must avoid it". Is it safe when the lateral distance is less than hard_margin/hard_margin_for_parked_vehicle ? In my understanding this module thinks that the ego should pass the side of the object with a certain amount of lateral distance, and therefore the ego must avoid the (parked) vehicle.
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@go-sakayori Sorry, I wrote wrong explanation, so I fixed it in 9938ae0.
WRONG: this module thinks the ego can pass the side of the object safely and the ego must avoid it.
CORRECT: this module thinks the ego can NOT pass the side of the object safely and the ego must avoid it.
| @@ -83,7 +83,7 @@ partition fillEgoStatus() { | |||
| note right | |||
| This module has following status: | |||
| - RUNNING: target object is still remaining. Or, the ego hasn't returned original lane. | |||
| - CANCEL: taget obejct has gone. And, the ego hasn't initiated avoidance maneuver. | |||
| - CANCEL: taget object has gone. And, the ego hasn't initiated avoidance maneuver. | |||
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| - CANCEL: taget object has gone. And, the ego hasn't initiated avoidance maneuver. | |
| - CANCEL: target object has gone. And, the ego hasn't initiated avoidance maneuver. |
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@go-sakayori Thanks! I fixed it in dcdb6f5.
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| ### When there is no enough space |
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| ### When there is no enough space | |
| ### When there is not enough space |
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| ### When there is no enough space | ||
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| This module inserts stop point only when the ego can potentially avoid the object. So, if it is not able to keep distance more than `hard_margin`/`hard_margin_for_parked_vehicle`, this module do nothing. Following figure shows the situation where this module is not able to keep enough lateral distance when user set a parameter `use_opposite_lane` to `false`. |
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| This module inserts stop point only when the ego can potentially avoid the object. So, if it is not able to keep distance more than `hard_margin`/`hard_margin_for_parked_vehicle`, this module do nothing. Following figure shows the situation where this module is not able to keep enough lateral distance when user set a parameter `use_opposite_lane` to `false`. | |
| This module inserts stop point only when the ego can potentially avoid the object. So, if it is not able to keep distance more than `hard_margin`/`hard_margin_for_parked_vehicle`, this module does nothing. Following figure shows the situation where this module is not able to keep enough lateral distance when user set a parameter `use_opposite_lane` to `false`. |
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| !!! info | ||
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| In this situation, obstacle stop feature in [obstacle_cruise_planner](../autoware_obstacle_cruise_planner/README.md) is responsible for ego vehicle safety. |
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| In this situation, obstacle stop feature in [obstacle_cruise_planner](../autoware_obstacle_cruise_planner/README.md) is responsible for ego vehicle safety. | |
| In this situation, obstacle stop feature in [obstacle_cruise_planner](../../autoware_obstacle_cruise_planner/README.md) is responsible for ego vehicle safety. |
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #7554 +/- ##
===========================================
- Coverage 14.84% 13.71% -1.13%
===========================================
Files 1999 254 -1745
Lines 139163 26411 -112752
Branches 43716 5151 -38565
===========================================
- Hits 20661 3623 -17038
+ Misses 95731 22259 -73472
+ Partials 22771 529 -22242
☔ View full report in Codecov by Sentry. |
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…ation#7554) * fix: package path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs: add explanation of lateral margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: typo Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: wrong description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
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…ation#7554) * fix: package path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs: add explanation of lateral margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: typo Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: wrong description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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* fix: package path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs: add explanation of lateral margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: typo Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: wrong description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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