From 77c14c8fd82c4e36c67965ff6459cf5536c65891 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 3 Aug 2022 16:23:14 +0900 Subject: [PATCH] docs(behavior_velocity_planner): update README Signed-off-by: satoshi-ota --- .../detection-area-design.md | 50 +++++++++++++------ .../docs/detection_area/keep_stopping.svg | 3 ++ .../docs/detection_area/restart.svg | 3 ++ .../detection_area/restart_prevention.svg | 3 ++ .../docs/stop_line/keep_stopping.svg | 3 ++ .../docs/stop_line/restart.svg | 3 ++ .../docs/stop_line/restart_prevention.svg | 3 ++ .../virtual_traffic_light/keep_stopping.svg | 3 ++ .../docs/virtual_traffic_light/restart.svg | 3 ++ .../restart_prevention.svg | 3 ++ .../stop-line-design.md | 38 +++++++++++--- .../virtual-traffic-light-design.md | 22 ++++++++ 12 files changed, 115 insertions(+), 22 deletions(-) create mode 100644 planning/behavior_velocity_planner/docs/detection_area/keep_stopping.svg create mode 100644 planning/behavior_velocity_planner/docs/detection_area/restart.svg create mode 100644 planning/behavior_velocity_planner/docs/detection_area/restart_prevention.svg create mode 100644 planning/behavior_velocity_planner/docs/stop_line/keep_stopping.svg create mode 100644 planning/behavior_velocity_planner/docs/stop_line/restart.svg create mode 100644 planning/behavior_velocity_planner/docs/stop_line/restart_prevention.svg create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/keep_stopping.svg create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/restart.svg create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/restart_prevention.svg diff --git a/planning/behavior_velocity_planner/detection-area-design.md b/planning/behavior_velocity_planner/detection-area-design.md index 6d36b4550978..20bfcce3204a 100644 --- a/planning/behavior_velocity_planner/detection-area-design.md +++ b/planning/behavior_velocity_planner/detection-area-design.md @@ -1,16 +1,27 @@ -### Detection Area +## Detection Area -#### Role +### Role If pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point. ![brief](./docs/detection_area/detection_area.svg) -#### Activation Timing +### Activation Timing This module is activated when there is a detection area on the target lane. -### Algorithm +### Module Parameters + +| Parameter | Type | Description | +| --------------------------- | ------ | -------------------------------------------------------------------------------------------------- | +| `use_dead_line` | bool | [-] weather to use dead line or not | +| `use_pass_judge_line` | bool | [-] weather to use pass judge line or not | +| `state_clear_time` | double | [s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state | +| `stop_margin` | double | [m] a margin that the vehicle tries to stop before stop_line | +| `dead_line_margin` | double | [m] ignore threshold that vehicle behind is collide with ego vehicle or not | +| `hold_stop_margin_distance` | double | [m] parameter for restart prevention (See Algorithm section) | + +### Inner-workings / Algorithm 1. Gets a detection area and stop line from map information and confirms if there is pointcloud in the detection area 2. Inserts stop point l[m] in front of the stop line @@ -18,16 +29,6 @@ This module is activated when there is a detection area on the target lane. 4. Sets velocity as zero behind the stop line when the ego-vehicle is in front of the pass judge point 5. If the ego vehicle has passed the pass judge point already, it doesn’t stop and pass through. -#### Module Parameters - -| Parameter | Type | Description | -| --------------------- | ------ | -------------------------------------------------------------------------------------------------- | -| `stop_margin` | double | [m] a margin that the vehicle tries to stop before stop_line | -| `use_dead_line` | bool | [-] weather to use dead line or not | -| `dead_line_margin` | double | [m] ignore threshold that vehicle behind is collide with ego vehicle or not | -| `use_pass_judge_line` | bool | [-] weather to use pass judge line or not | -| `state_clear_time` | double | [s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state | - #### Flowchart ```plantuml @@ -87,3 +88,24 @@ endif stop @enduml ``` + +#### Restart prevention + +If it needs X meters (e.g. 0.5 meters) to stop once the vehicle starts moving due to the poor vehicle control performance, the vehicle goes over the stopping position that should be strictly observed when the vehicle starts to moving in order to approach the near stop point (e.g. 0.3 meters away). + +This module has parameter `hold_stop_margin_distance` in order to prevent from these redundant restart. If the vehicle is stopped within `hold_stop_margin_distance` meters from stop point of the module (\_front_to_stop_line < hold_stop_margin_distance), the module judges that the vehicle has already stopped for the module's stop point and plans to keep stopping current position even if the vehicle is stopped due to other factors. + +
+ ![example](docs/detection_area/restart_prevention.svg){width=1000} +
parameters
+
+ +
+ ![example](docs/detection_area/restart.svg){width=1000} +
outside the hold_stop_margin_distance
+
+ +
+ ![example](docs/detection_area/keep_stopping.svg){width=1000} +
inside the hold_stop_margin_distance
+
diff --git a/planning/behavior_velocity_planner/docs/detection_area/keep_stopping.svg b/planning/behavior_velocity_planner/docs/detection_area/keep_stopping.svg new file mode 100644 index 000000000000..50f344c35d05 --- /dev/null +++ b/planning/behavior_velocity_planner/docs/detection_area/keep_stopping.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
keep stopping at current position
keep stopping at curr...
target stop position
target stop positionText is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/detection_area/restart.svg b/planning/behavior_velocity_planner/docs/detection_area/restart.svg new file mode 100644 index 000000000000..c21c6d8ef243 --- /dev/null +++ b/planning/behavior_velocity_planner/docs/detection_area/restart.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
move toward stop line
move toward stop line
target stop position
target stop positionText is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/detection_area/restart_prevention.svg b/planning/behavior_velocity_planner/docs/detection_area/restart_prevention.svg new file mode 100644 index 000000000000..cc38ad32399f --- /dev/null +++ b/planning/behavior_velocity_planner/docs/detection_area/restart_prevention.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
target stop position
target stop position
hold_stop_margin_distance [m]
hold_stop_margin_distance [m]
front_to_stop_line [m]
front_to_stop_line [...Text is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/stop_line/keep_stopping.svg b/planning/behavior_velocity_planner/docs/stop_line/keep_stopping.svg new file mode 100644 index 000000000000..50f344c35d05 --- /dev/null +++ b/planning/behavior_velocity_planner/docs/stop_line/keep_stopping.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
keep stopping at current position
keep stopping at curr...
target stop position
target stop positionText is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/stop_line/restart.svg b/planning/behavior_velocity_planner/docs/stop_line/restart.svg new file mode 100644 index 000000000000..c21c6d8ef243 --- /dev/null +++ b/planning/behavior_velocity_planner/docs/stop_line/restart.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
move toward stop line
move toward stop line
target stop position
target stop positionText is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/stop_line/restart_prevention.svg b/planning/behavior_velocity_planner/docs/stop_line/restart_prevention.svg new file mode 100644 index 000000000000..cc38ad32399f --- /dev/null +++ b/planning/behavior_velocity_planner/docs/stop_line/restart_prevention.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
target stop position
target stop position
hold_stop_margin_distance [m]
hold_stop_margin_distance [m]
front_to_stop_line [m]
front_to_stop_line [...Text is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/virtual_traffic_light/keep_stopping.svg b/planning/behavior_velocity_planner/docs/virtual_traffic_light/keep_stopping.svg new file mode 100644 index 000000000000..50f344c35d05 --- /dev/null +++ b/planning/behavior_velocity_planner/docs/virtual_traffic_light/keep_stopping.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
keep stopping at current position
keep stopping at curr...
target stop position
target stop positionText is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/virtual_traffic_light/restart.svg b/planning/behavior_velocity_planner/docs/virtual_traffic_light/restart.svg new file mode 100644 index 000000000000..c21c6d8ef243 --- /dev/null +++ b/planning/behavior_velocity_planner/docs/virtual_traffic_light/restart.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
move toward stop line
move toward stop line
target stop position
target stop positionText is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/docs/virtual_traffic_light/restart_prevention.svg b/planning/behavior_velocity_planner/docs/virtual_traffic_light/restart_prevention.svg new file mode 100644 index 000000000000..cc38ad32399f --- /dev/null +++ b/planning/behavior_velocity_planner/docs/virtual_traffic_light/restart_prevention.svg @@ -0,0 +1,3 @@ + + +
Ego
Ego
target stop position
target stop position
hold_stop_margin_distance [m]
hold_stop_margin_distance [m]
front_to_stop_line [m]
front_to_stop_line [...Text is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/stop-line-design.md b/planning/behavior_velocity_planner/stop-line-design.md index d1980469c748..e08ea43c0799 100644 --- a/planning/behavior_velocity_planner/stop-line-design.md +++ b/planning/behavior_velocity_planner/stop-line-design.md @@ -10,6 +10,14 @@ This module plans velocity so that the vehicle can stop right before stop lines This module is activated when there is a stop line in a target lane. +### Module Parameters + +| Parameter | Type | Description | +| --------------------------- | ------ | ---------------------------------------------------------------------------------------------- | +| `stop_margin` | double | a margin that the vehicle tries to stop before stop_line | +| `stop_check_dist` | double | when the vehicle is within `stop_check_dist` from stop_line and stopped, move to STOPPED state | +| `hold_stop_margin_distance` | double | [m] parameter for restart prevention (See Algorithm section) | + ### Inner-workings / Algorithms - Gets a stop line from map information. @@ -17,14 +25,7 @@ This module is activated when there is a stop line in a target lane. - Sets velocities of the path after the stop point to 0[m/s]. - Release the inserted stop velocity when the vehicle stops within a radius of 2[m] from the stop point. -### Module Parameters - -| Parameter | Type | Description | -| ----------------- | ------ | ---------------------------------------------------------------------------------------------- | -| `stop_margin` | double | a margin that the vehicle tries to stop before stop_line | -| `stop_check_dist` | double | when the vehicle is within `stop_check_dist` from stop_line and stopped, move to STOPPED state | - -### Flowchart +#### Flowchart ```plantuml @startuml @@ -85,3 +86,24 @@ Then, we can get `offset segment` and `offset from segment start`. After that, we can calculate a offset point from `offset segment` and `offset`. This will be `stop_pose`. ![calculate_stop_pose](./docs/stop_line/calculate_stop_pose.drawio.svg) + +#### Restart prevention + +If it needs X meters (e.g. 0.5 meters) to stop once the vehicle starts moving due to the poor vehicle control performance, the vehicle goes over the stopping position that should be strictly observed when the vehicle starts to moving in order to approach the near stop point (e.g. 0.3 meters away). + +This module has parameter `hold_stop_margin_distance` in order to prevent from these redundant restart. If the vehicle is stopped within `hold_stop_margin_distance` meters from stop point of the module (\_front_to_stop_line < hold_stop_margin_distance), the module judges that the vehicle has already stopped for the module's stop point and plans to keep stopping current position even if the vehicle is stopped due to other factors. + +
+ ![example](docs/stop_line/restart_prevention.svg){width=1000} +
parameters
+
+ +
+ ![example](docs/stop_line/restart.svg){width=1000} +
outside the hold_stop_margin_distance
+
+ +
+ ![example](docs/stop_line/keep_stopping.svg){width=1000} +
inside the hold_stop_margin_distance
+
diff --git a/planning/behavior_velocity_planner/virtual-traffic-light-design.md b/planning/behavior_velocity_planner/virtual-traffic-light-design.md index af967c39e45b..8d86a06bdba4 100644 --- a/planning/behavior_velocity_planner/virtual-traffic-light-design.md +++ b/planning/behavior_velocity_planner/virtual-traffic-light-design.md @@ -211,8 +211,30 @@ remote_controllable_traffic_light -[hidden]down-> warning_light | `max_delay_sec` | double | [s] maximum allowed delay for command | | `near_line_distance` | double | [m] threshold distance to stop line to check ego stop. | | `dead_line_margin` | double | [m] threshold distance that this module continue to insert stop line. | +| `hold_stop_margin_distance` | double | [m] parameter for restart prevention (See following section) | | `check_timeout_after_stop_line` | bool | [-] check timeout to stop when linkage is disconnected | +#### Restart prevention + +If it needs X meters (e.g. 0.5 meters) to stop once the vehicle starts moving due to the poor vehicle control performance, the vehicle goes over the stopping position that should be strictly observed when the vehicle starts to moving in order to approach the near stop point (e.g. 0.3 meters away). + +This module has parameter `hold_stop_margin_distance` in order to prevent from these redundant restart. If the vehicle is stopped within `hold_stop_margin_distance` meters from stop point of the module (\_front_to_stop_line < hold_stop_margin_distance), the module judges that the vehicle has already stopped for the module's stop point and plans to keep stopping current position even if the vehicle is stopped due to other factors. + +
+ ![example](docs/virtual_traffic_light/restart_prevention.svg){width=1000} +
parameters
+
+ +
+ ![example](docs/virtual_traffic_light/restart.svg){width=1000} +
outside the hold_stop_margin_distance
+
+ +
+ ![example](docs/virtual_traffic_light/keep_stopping.svg){width=1000} +
inside the hold_stop_margin_distance
+
+ #### Flowchart ```plantuml