Side Shift design

(For remote control) Shift the path to left or right according to an external instruction.

Overview of the Side Shift Module Process

1. Receive the required lateral offset input.
2. Update the requested_lateral_offset_ under the following conditions: a. Verify if the last update time has elapsed. b. Ensure the required lateral offset value is different from the previous one.
3. Insert the shift points into the path if the side shift module's status is not in the SHIFTING status.

Please be aware that requested_lateral_offset_ is continuously updated with the latest values and is not queued.

Statuses of the Side Shift

The side shift has three distinct statuses. Note that during the SHIFTING status, the path cannot be updated:

1. BEFORE_SHIFT: Preparing for shift.
2. SHIFTING: Currently in the process of shifting.
3. AFTER_SHIFT: Shift completed.

side shift status

Flowchart

Parameters

Name	Type	Description	Default	Range
min_distance_to_start_shifting	float	Minimum distance to start shifting.	5	N/A
time_to_start_shifting	float	Time to start shifting.	1	N/A
shifting_lateral_jerk	float	Lateral jerk during shifting.	0.2	N/A
min_shifting_distance	float	Minimum shifting distance.	5	N/A
min_shifting_speed	float	Minimum speed to perform shifting.	5.56	N/A
shift_request_time_limit	float	Time limit for shift request.	1	N/A
publish_debug_marker	boolean	Flag to publish debug markers.	0	N/A