From cb93cf72c5a11af35cdc13fbd22296e84c2d24da Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 19 Nov 2024 11:41:03 +0900 Subject: [PATCH] add README Signed-off-by: Kyoichi Sugahara --- planning/autoware_planning_validator/README.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/planning/autoware_planning_validator/README.md b/planning/autoware_planning_validator/README.md index 78a8c95fe3772..c7429134616f4 100644 --- a/planning/autoware_planning_validator/README.md +++ b/planning/autoware_planning_validator/README.md @@ -85,5 +85,10 @@ The input trajectory is detected as invalid if the index exceeds the following t For parameters used e.g. to calculate threshold. -| `parameters.forward_trajectory_length_acceleration` | double | This value is used to calculate required trajectory length. | -5.0 | -| `parameters.forward_trajectory_length_margin` | double | A margin of the required trajectory length not to raise an error when the ego slightly exceeds the trajectory end point. | 2.0 | +| Parameter Name | Type | Description | Default Value | +| ---------------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------- | +| `parameters.forward_trajectory_length_acceleration` | double | This value is used to calculate required trajectory length. | -5.0 | +| `parameters.forward_trajectory_length_margin` | double | A margin of the required trajectory length not to raise an error when the ego slightly exceeds the trajectory end point. | 2.0 | +| `parameters.trajectory_to_object_distance_threshold` | double | A threshold for filtering objects to improve computational efficiency of collision checking. Only objects within this distance [m] from their nearest point on the trajectory are considered for collision checking. | 30.0 | +| `parameters.ego_to_object_distance_threshold` | double | A threshold for filtering objects to improve computational efficiency of collision checking. Only objects within this distance [m] from the current ego position are considered for collision checking. | 50.0 | +| `parameters.time_tolerance_threshold` | double | Time tolerance threshold [s] for collision detection between ego and object trajectories. Collision check is performed only when the time difference between ego and object predicted positions is within this threshold to detect temporal-spatial intersections. | 0.1 |