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docs(lane_change): add missing explanation for lane change parameters #4703

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Aug 24, 2023
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docs(lane_change): add missing explanation for lane change parameters #4703

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docs(lane_change): add missing explanation for lane change parameters
rej55 Aug 22, 2023
0421cf0
docs(lane_change): fix spell
rej55 Aug 22, 2023
aee0abe
docs(lane_change): add turn signal parameters
rej55 Aug 22, 2023
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45 changes: 31 additions & 14 deletions planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md
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Expand Up @@ -270,23 +270,40 @@ The last behavior will also occur if the ego vehicle has departed from the curre

The following parameters are configurable in `lane_change.param.yaml`.

| Name | Unit | Type | Description | Default value |
| :--------------------------------------- | ------ | ------ | ---------------------------------------------------------------------------------------------------- | ------------- |
| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 |
| `lane_changing_safety_check_duration` | [m] | double | The total time that is taken to complete the lane-changing task. | 8.0 |
| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 2.0 |
| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 |
| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 |
| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 |
| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 |
| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 |
| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 |
| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 |
| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 |
| Name | Unit | Type | Description | Default value |
| :------------------------------------------ | ------ | ------- | --------------------------------------------------------------------------------------------------------------- | ------------------ |
| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 |
| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 |
| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 2.0 |
| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 |
| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 |
| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 |
| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 |
| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 |
| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 |
| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 |
| `object_check_min_road_shoulder_width` | [m] | double | Vehicles around the center line within this distance will be excluded from parking objects | 0.5 |
| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 |
| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be acitvated if the ego vehicle approaches to this length from minimum lane change length | 10.0 |
| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deacitvated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 |
| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 |
| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 |
| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 |
| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] |
| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.15, 0.15, 0.15] |
| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.5, 0.5, 0.5] |
| `target_object.car` | [-] | boolean | Include car objects for safety check | true |
| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true |
| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true |
| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true |
| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true |
| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true |
| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true |
| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true |

### Collision checks during lane change

The following parameters are configurable in `behavior_path_planner.param.yaml`.
The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`.

| Name | Unit | Type | Description | Default value |
| :----------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- |
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