From f56db366b517e43ad5c06df8e7fcd47516c3c069 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 10 Jul 2023 09:23:35 +0900 Subject: [PATCH 1/2] added intersection_area doc Signed-off-by: Mamoru Sobue --- .../docs/intersection_area.drawio.svg | 4 ++ .../docs/lanelet2_format_extension.md | 39 +++++++++++++++++++ 2 files changed, 43 insertions(+) create mode 100644 tmp/lanelet2_extension/docs/intersection_area.drawio.svg diff --git a/tmp/lanelet2_extension/docs/intersection_area.drawio.svg b/tmp/lanelet2_extension/docs/intersection_area.drawio.svg new file mode 100644 index 00000000..f383a09e --- /dev/null +++ b/tmp/lanelet2_extension/docs/intersection_area.drawio.svg @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/tmp/lanelet2_extension/docs/lanelet2_format_extension.md b/tmp/lanelet2_extension/docs/lanelet2_format_extension.md index 4e9969ef..3dbef9a1 100644 --- a/tmp/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/tmp/lanelet2_extension/docs/lanelet2_format_extension.md @@ -369,3 +369,42 @@ _An example:_ ``` For more details about the `no_drivable_lane` concept and design, please refer to the [**_no-drivable-lane-design_**](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_no_drivable_lane_module/README.md) document. + +### Intersection area + +The polygon of type `intersection_area` can be used for +1. extra collision checking inside the intersection +2. ensuring sufficient _drivable area_ in addition to the intersection lane on the route when the ego-vehicle needs to avoid parked vehicles just before the intersection. + +The `intersection_area` tag needs to be properly associated with each lanelet in the intersection (if the tag is defined). + +_An example:_ + +```xml + + + + + + + ... + + + + + + + + + + + + + + + +``` + +The `intersection_area` should cover the entire drivable area inside the intersection as illustrated in the following figure with red solid line. + +![intersection_area tagging](intersection_area.drawio.svg) From 996dd9add2f6351316db52d435d08244672ee763 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 10 Jul 2023 00:25:13 +0000 Subject: [PATCH 2/2] style(pre-commit): autofix --- .../docs/intersection_area.drawio.svg | 239 +++++++++++++++++- .../docs/lanelet2_format_extension.md | 1 + 2 files changed, 239 insertions(+), 1 deletion(-) diff --git a/tmp/lanelet2_extension/docs/intersection_area.drawio.svg b/tmp/lanelet2_extension/docs/intersection_area.drawio.svg index f383a09e..39e179f4 100644 --- a/tmp/lanelet2_extension/docs/intersection_area.drawio.svg +++ b/tmp/lanelet2_extension/docs/intersection_area.drawio.svg @@ -1,4 +1,241 @@ - \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tmp/lanelet2_extension/docs/lanelet2_format_extension.md b/tmp/lanelet2_extension/docs/lanelet2_format_extension.md index 3dbef9a1..8ca1b4d3 100644 --- a/tmp/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/tmp/lanelet2_extension/docs/lanelet2_format_extension.md @@ -373,6 +373,7 @@ For more details about the `no_drivable_lane` concept and design, please refer t ### Intersection area The polygon of type `intersection_area` can be used for + 1. extra collision checking inside the intersection 2. ensuring sufficient _drivable area_ in addition to the intersection lane on the route when the ego-vehicle needs to avoid parked vehicles just before the intersection.