update

Signed-off-by: Takamasa Horibe <[email protected]>

planning/planning_validator/README.md

@@ -1,33 +1,37 @@
 # Planning Validator
 
-This `planning_validator` takes validation of the trajectory to prevent unexpected abnormal trajectory from being published. When an invalid trajectory is detected, the `planning_validator` will either "not publish the trajectory" or "publish the latest valid trajectory" according to the selected option. The status of the validation can be seen in the `/diagnostics` and `/validation_status` topics.
+The `planning_validator` is a module that checks the validity of a trajectory before it is published. If an invalid trajectory is detected, the `planning_validator` can either "not publish the trajectory" or "publish the latest valid trajectory" depending on the selected option. The status of the validation can be viewed in the `/diagnostics` and `/validation_status` topics.
 
 ## Supported features
 
-The following functions are supported for trajectory validation. Thresholds for the validation can be set by parameters. To turn off a certain validation item individually, set a large value for the associated threshold.
+The following features are supported for trajectory validation and can have thresholds set by parameters:
 
-- invalid field (e.g. Inf, Nan)
-- trajectory points interval (invalid if any of the distance of trajectory points is too large)
-- curvature (invalid if the trajectory has too sharp turns that is not feasible for the given vehicle kinematics)
-- relative angle (invalid if the yaw angle changes too fast in the sequence of trajectory points)
-- lateral acceleration (invalid if the expected lateral acceleration/deceleration is too large)
-- longitudinal acceleration/deceleration (invalid if the acceleration/deceleration in the trajectory point is too large)
-- steering angle (invalid if the expected steering value is too large estimated from trajectory curvature)
-- steering angle rate (invalid if the expected steering rate value is too large)
-- velocity deviation (invalid if the planning velocity is too far from the ego velocity)
-- distance deviation (invalid if the ego is too far from the trajectory)
+- Invalid field (e.g. Inf, Nan)
+- Trajectory points interval (invalid if any of the distance of trajectory points is too large)
+- Curvature (invalid if the trajectory has too sharp turns that is not feasible for the given vehicle kinematics)
+- Relative angle (invalid if the yaw angle changes too fast in the sequence of trajectory points)
+- Lateral acceleration (invalid if the expected lateral acceleration/deceleration is too large)
+- Longitudinal acceleration/deceleration (invalid if the acceleration/deceleration in the trajectory point is too large)
+- Steering angle (invalid if the expected steering value is too large estimated from trajectory curvature)
+- Steering angle rate (invalid if the expected steering rate value is too large)
+- Velocity deviation (invalid if the planning velocity is too far from the ego velocity)
+- Distance deviation (invalid if the ego is too far from the trajectory)
 
 ## Inputs/Outputs
 
 ### Inputs
 
+The `planning_validator` takes in the following inputs:
+
 | Name                 | Type                                   | Description                                    |
 | -------------------- | -------------------------------------- | ---------------------------------------------- |
 | `~/input/kinematics` | nav_msgs/Odometry                      | ego pose and twist                             |
 | `~/input/trajectory` | autoware_auto_planning_msgs/Trajectory | target trajectory to be validated in this node |
 
 ### Outputs
 
+It outputs the following:
+
 | Name                         | Type                                       | Description                                                               |
 | ---------------------------- | ------------------------------------------ | ------------------------------------------------------------------------- |
 | `~/output/trajectory`        | autoware_auto_planning_msgs/Trajectory     | validated trajectory                                                      |
@@ -36,6 +40,8 @@ The following functions are supported for trajectory validation. Thresholds for
 
 ## Parameters
 
+The following parameters can be set for the `planning_validator`:
+
 ### System parameters
 
 | Name                                 | Type | Description                                                                                                              | Default value |