po

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

control/autoware_control_validator/README.md

@@ -57,9 +57,10 @@ The following parameters can be set for the `control_validator`:
 
 The input trajectory is detected as invalid if the index exceeds the following thresholds.
 
-| Name                                | Type   | Description                                                                                                 | Default value |
-| :---------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ |
-| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0           |
-| `thresholds.rolling_back_velocity`  | double | threshold velocity to valid the vehicle velocity [m/s]                                                      | 0.5           |
-| `thresholds.over_velocity_offset`   | double | threshold velocity offset to valid the vehicle velocity [m/s]                                               | 2.0           |
-| `thresholds.over_velocity_ratio`    | double | threshold ratio to valid the vehicle velocity [*]                                                           | 0.2           |
+| Name                                 | Type   | Description                                                                                                 | Default value |
+| :----------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ |
+| `thresholds.max_distance_deviation`  | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0           |
+| `thresholds.rolling_back_velocity`   | double | threshold velocity to valid the vehicle velocity [m/s]                                                      | 0.5           |
+| `thresholds.over_velocity_offset`    | double | threshold velocity offset to valid the vehicle velocity [m/s]                                               | 2.0           |
+| `thresholds.over_velocity_ratio`     | double | threshold ratio to valid the vehicle velocity [*]                                                           | 0.2           |
+| `thresholds.overrun_stop_point_dist` | double | threshold distance to overrun stop point [m]                                                                | 0.8           |

control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp

@@ -87,6 +87,11 @@ class ControlValidator : public rclcpp::Node
   void calc_velocity_deviation_status(
     const Trajectory & reference_trajectory, const Odometry & kinematics);
 
+  /**
+   * @brief Calculate whether the vehicle has overrun a stop point in the trajectory.
+   * @param reference_trajectory Reference trajectory
+   * @param kinematics Current vehicle odometry including pose and twist
+   */
   void calc_stop_point_overrun_status(
     const Trajectory & reference_trajectory, const Odometry & kinematics);