Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

docs(start_planner): update Purpose / Role of the document #6002

Merged
merged 1 commit into from
Jan 10, 2024
Merged

docs(start_planner): update Purpose / Role of the document #6002

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 13 additions & 7 deletions planning/behavior_path_start_planner_module/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,23 @@

## Purpose / Role

The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and implementing safety checks against dynamic obstacles. (Note: The feature of safety checks against dynamic obstacles is currently a work in progress.)
This module is activated when a new route is received.
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This is not needed?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

changed expression in this PR from

The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and implementing safety checks against dynamic obstacles. (Note: The feature of safety checks against dynamic obstacles is currently a work in progress.)

to

The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and stopping in response to dynamic obstacles when a collision is detected.

And for the following description is not correct in my understanding 🤔

This module is activated when a new route is received.

activated condition is not only receiving new route?

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I thought the tivated condition is only receiving new route. What are other conditions?
(I can not check the code details now🙇)

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

memo:
ex) even if reciving new route, the ego deviates from center line the module is not executed.

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

will update to add acivation condition section

The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and stopping in response to dynamic obstacles when a collision is detected.

Use cases are as follows
Use cases include:

- start smoothly from the current ego position to centerline.
![case1](./images/start_from_road_lane.drawio.svg)
- pull out from the side of the road lane to centerline.
![case2](./images/start_from_road_side.drawio.svg)

<figure markdown>
![case1](images/start_from_road_side.drawio.svg){width=1000}
<figcaption>pull out from side of the road lane</figcaption>
</figure>

- pull out from the shoulder lane to the road lane centerline.
![case3](./images/start_from_road_shoulder.drawio.svg)

<figure markdown>
![case2](images/start_from_start_from_road_shoulder.drawio.svg){width=1000}
<figcaption>pull out from the shoulder lane</figcaption>
</figure>

## Design

Expand Down
Loading
Loading