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refactor(autoware_obstacle_stop_planner): rework parameters #7795

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merged 11 commits into from
Aug 22, 2024
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refactor(autoware_obstacle_stop_planner): rework parameters #7795

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58c588f
ROS Node configuration
Ariiees Jul 2, 2024
244f6fe
style(pre-commit): autofix
pre-commit-ci[bot] Jul 2, 2024
f686383
modification according to comments
Ariiees Jul 5, 2024
617a82c
modification according to comments
Ariiees Jul 5, 2024
b54ea17
fix problem
Ariiees Jul 11, 2024
3a592c8
sovle schema error
Ariiees Aug 2, 2024
ecbcdd5
style(pre-commit): autofix
pre-commit-ci[bot] Aug 2, 2024
38f866a
Update planning/autoware_obstacle_stop_planner/schema/adaptive_cruise…
mitsudome-r Aug 15, 2024
c482ad4
Merge branch 'main' into obstacle_stop_planner
Ariiees Aug 16, 2024
c2c3061
Merge branch 'main' into obstacle_stop_planner
Ariiees Aug 19, 2024
4f548b8
Merge branch 'main' into obstacle_stop_planner
mitsudome-r Aug 22, 2024
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6 changes: 6 additions & 0 deletions planning/autoware_obstacle_stop_planner/README.md
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Expand Up @@ -31,6 +31,8 @@

### Common Parameter

{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/common.schema.json") }}

| Parameter | Type | Description |
| -------------------------------------- | ------ | ----------------------------------------------------------------------------------------- |
| `enable_slow_down` | bool | enable slow down planner [-] |
Expand Down Expand Up @@ -103,6 +105,8 @@ stopped due to other factors.

### Parameters

{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json") }}

#### Stop position

| Parameter | Type | Description |
Expand Down Expand Up @@ -186,6 +190,8 @@ down section.

### Parameters

{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json") }}

#### Slow down section

| Parameter | Type | Description |
Expand Down
216 changes: 216 additions & 0 deletions planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameter for adaptive cruise control",
"type": "object",
"definitions": {
"adaptive_cruise_control": {
"type": "object",
"properties": {
"adaptive_cruise_control": {
"type": "object",
"properties": {
"use_object_to_estimate_vel": {
"type": "boolean",
"description": "use tracking objects for estimating object velocity or not",
"default": "true"
},
"use_pcl_to_estimate_vel": {
"type": "boolean",
"description": "use pcl for estimating object velocity or not",
"default": "true"
},
"consider_obj_velocity": {
"type": "boolean",
"description": "consider forward vehicle velocity to ACC or not",
"default": "true"
},
"obstacle_velocity_thresh_to_start_acc": {
"type": "number",
"description": "start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]",
"default": "1.5"
},
"obstacle_velocity_thresh_to_stop_acc": {
"type": "number",
"description": "stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]",
"default": "1.0"
},
"emergency_stop_acceleration": {
"type": "number",
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
"default": "-5.0"
},
"emergency_stop_idling_time": {
"type": "number",
"description": "supposed idling time to start emergency stop [s]",
"default": "0.5"
},
"min_dist_stop": {
"type": "number",
"description": "minimum distance of emergency stop [m]",
"default": "4.0"
},
"obstacle_emergency_stop_acceleration": {
"type": "number",
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
"default": "-5.0"
},
"max_standard_acceleration": {
"type": "number",
"description": "supposed maximum acceleration in active cruise control [m/ss]",
"default": "0.5"
},
"min_standard_acceleration": {
"type": "number",
"description": "supposed minimum acceleration (deceleration) in active cruise control",
"default": "-1.0"
},
"standard_idling_time": {
"type": "number",
"description": "supposed idling time to react object in active cruise control [s]",
"default": "0.5"
},
"min_dist_standard": {
"type": "number",
"description": "minimum distance in active cruise control [m]",
"default": "4.0"
},
"obstacle_min_standard_acceleration": {
"type": "number",
"description": "supposed minimum acceleration of forward obstacle [m/ss]",
"default": "-1.5"
},
"margin_rate_to_change_vel": {
"type": "number",
"description": "margin to insert upper velocity [-]",
"default": "0.3"
},
"use_time_compensation_to_calc_distance": {
"type": "boolean",
"description": "use time-compensation to calculate distance to forward vehicle",
"default": "true"
},
"p_coefficient_positive": {
"type": "number",
"description": "coefficient P in PID control (used when target dist -current_dist >=0) [-]",
"default": "0.1"
},
"p_coefficient_negative": {
"type": "number",
"description": "coefficient P in PID control (used when target dist -current_dist <0) [-]",
"default": "0.3"
},
"d_coefficient_positive": {
"type": "number",
"description": "coefficient D in PID control (used when delta_dist >=0) [-]",
"default": "0.0"
},
"d_coefficient_negative": {
"type": "number",
"description": "coefficient D in PID control (used when delta_dist <0) [-]",
"default": "0.2"
},
"object_polygon_length_margin": {
"type": "number",
"description": "The distance to extend the polygon length the object in pointcloud-object matching [m]",
"default": "2.0"
},
"object_polygon_width_margin": {
"type": "number",
"description": "The distance to extend the polygon width the object in pointcloud-object matching [m]",
"default": "0.5"
},
"valid_estimated_vel_diff_time": {
"type": "number",
"description": "Maximum time difference treated as continuous points in speed estimation using a point cloud [s]",
"default": "1.0"
},
"valid_vel_que_time": {
"type": "number",
"description": "Time width of information used for speed estimation in speed estimation using a point cloud [s]",
"default": "0.5"
},
"valid_estimated_vel_max": {
"type": "number",
"description": "Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
"default": "20.0"
},
"valid_estimated_vel_min": {
"type": "number",
"description": "Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
"default": "-20.0"
},
"thresh_vel_to_stop": {
"type": "number",
"description": "Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s]",
"default": "1.5"
},
"lowpass_gain_of_upper_velocity": {
"type": "number",
"description": "Lowpass-gain of upper velocity",
"default": "0.75"
},
"use_rough_velocity_estimation": {
"type": "boolean",
"description": "Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####)",
"default": "false"
},
"rough_velocity_rate": {
"type": "number",
"description": "In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value",
"default": "0.9"
}
},
"required": [
"use_object_to_estimate_vel",
"use_pcl_to_estimate_vel",
"consider_obj_velocity",
"obstacle_velocity_thresh_to_start_acc",
"obstacle_velocity_thresh_to_stop_acc",
"emergency_stop_acceleration",
"emergency_stop_idling_time",
"min_dist_stop",
"obstacle_emergency_stop_acceleration",
"max_standard_acceleration",
"min_standard_acceleration",
"standard_idling_time",
"min_dist_standard",
"obstacle_min_standard_acceleration",
"margin_rate_to_change_vel",
"use_time_compensation_to_calc_distance",
"p_coefficient_positive",
"p_coefficient_negative",
"d_coefficient_positive",
"d_coefficient_negative",
"object_polygon_length_margin",
"object_polygon_width_margin",
"valid_estimated_vel_diff_time",
"valid_vel_que_time",
"valid_estimated_vel_max",
"valid_estimated_vel_min",
"thresh_vel_to_stop",
"lowpass_gain_of_upper_velocity",
"use_rough_velocity_estimation",
"rough_velocity_rate"
],
"additionalProperties": false
}
},
"required": ["adaptive_cruise_control"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/adaptive_cruise_control"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
85 changes: 85 additions & 0 deletions planning/autoware_obstacle_stop_planner/schema/common.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameter for common in autoware_obstacle_stop_planner",
"type": "object",
"definitions": {
"common": {
"type": "object",
"properties": {
"max_vel": {
"type": "number",
"description": "max velocity limit [m/s]",
"default": "11.1"
},
"normal": {
"type": "object",
"properties": {
"min_acc": {
"type": "number",
"description": "min deceleration [m/ss]",
"default": "-0.5"
},
"max_acc": {
"type": "number",
"description": "max acceleration [m/ss]",
"default": "1.0"
},
"min_jerk": {
"type": "number",
"description": "min jerk [m/sss]",
"default": "-0.5"
},
"max_jerk": {
"type": "number",
"description": "max jerk [m/sss]",
"default": "1.0"
}
},
"required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
},
"limit": {
"type": "object",
"properties": {
"min_acc": {
"type": "number",
"description": "min deceleration limit [m/ss]",
"default": "-2.5"
},
"max_acc": {
"type": "number",
"description": "max acceleration [m/ss]",
"default": "1.0"
},
"min_jerk": {
"type": "number",
"description": "min jerk [m/sss]",
"default": "-1.5"
},
"max_jerk": {
"type": "number",
"description": "max jerk [m/sss]",
"default": "1.5"
}
},
"required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
}
},
"required": ["max_vel", "normal", "limit"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/common"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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