update comments

Signed-off-by: Yuki Takagi <[email protected]>

planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml

@@ -25,16 +25,16 @@
         max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
         no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
 
-      # params to prevent stopping on crosswalks due to other vehicles ahead
+      # params to prevent stopping on crosswalks due to another vehicle ahead
       stuck_vehicle:
         stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stucked or not.
-        max_stuck_vehicle_lateral_offset: 2.0 # [m] Vehicles closer than this value to the ego's path are handled by this feature.
-        stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk if a stuck vehicle is within this distance from the end of the crosswalk on the ego's path.
+        max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
+        stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exsits within this distance from the end of the crosswalk on the ego's path.
         min_acc: -1.0 # min acceleration [m/ss]
         min_jerk: -1.0 # min jerk [m/sss]
         max_jerk: 1.0 # max jerk [m/sss]
 
-      # param for pass judge logic
+      # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
@@ -43,7 +43,7 @@
         ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
 
-        no_stop_decision:
+        no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
           min_acc: -1.0 # min acceleration [m/ss]
           min_jerk: -1.0 # min jerk [m/sss]
@@ -52,12 +52,12 @@
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding
-        disable_stop_for_yield_cancel: true # for the crosswalk where there is a traffic signal
-        disable_yield_for_new_stopped_object: true # for the crosswalk where there is a traffic signal
-        # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
+        disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
+        # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
         distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
-        timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
+        timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # param for target object filtering
       object_filtering: