From 829f8e9a873c07f7ad99dbe82561afe40de5f181 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 20 Dec 2023 13:01:09 +0900 Subject: [PATCH 01/19] feat(intersection): disable stuck detection against private lane (#744) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 997addd48d..6fc136c512 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -23,8 +23,7 @@ stuck_vehicle_velocity_threshold: 0.833 # enable_front_car_decel_prediction: false # assumed_front_car_decel: 1.0 - timeout_private_area: 3.0 - enable_private_area_stuck_disregard: false + disable_against_private_lane: true yield_stuck: turn_direction: From 8c2aab97b0cded219c17553a022a05a66e43e3b7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 20 Dec 2023 13:16:40 +0900 Subject: [PATCH 02/19] feat(avoidance): enable avoidance for objects that stop longer time than thresh (#747) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index d50b1ad42c..abea410e7e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -141,6 +141,7 @@ force_avoidance: enable: false # [-] time_threshold: 1.0 # [s] + distance_threshold: 1.0 # [m] ignore_area: traffic_light: front_distance: 100.0 # [m] From cfa256fb60efa8356d8bd9f059503ff06ff19e06 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 21 Dec 2023 15:18:41 +0900 Subject: [PATCH 03/19] feat(avoidance): enable avoidance for objects that stop longer time than thresh (#743) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index abea410e7e..add538c7bf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -139,8 +139,8 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. force_avoidance: - enable: false # [-] - time_threshold: 1.0 # [s] + enable: true # [-] + time_threshold: 3.0 # [s] distance_threshold: 1.0 # [m] ignore_area: traffic_light: From a9779ec2350d89868952f15c8f7e1748835d38bb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Dec 2023 18:08:36 +0900 Subject: [PATCH 04/19] feat: run_out does not plan to stop when there is enough time for stopping (#749) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/run_out.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index ccd263bf3a..86bcf34382 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -4,7 +4,7 @@ detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points use_partition_lanelet: true # [-] whether to use partition lanelet map data suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet: - specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates + specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles From e670bf1e7bde4a28d52d29cc31870b2f2c57f87b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 22 Dec 2023 10:11:29 +0900 Subject: [PATCH 05/19] revert: "fix(avoidance): shorten the parameter (#745)" (#750) revert "fix(avoidance): shorten the parameter (#745)" This reverts commit 024254c82f2687deddfadba716afe0f2b8a3a03c. --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index add538c7bf..7117d1d6da 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -217,7 +217,7 @@ return_dead_line: goal: enable: true # [-] - buffer: 25.0 # [m] + buffer: 30.0 # [m] traffic_light: enable: true # [-] buffer: 3.0 # [m] From 31b7b9883478952a762921893475559653b6300d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Dec 2023 14:43:55 +0900 Subject: [PATCH 06/19] feat: add stopped_object.max_object_vel in dynamic_avoidance (#753) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 854c29aa89..29fdca78e5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -46,6 +46,9 @@ min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. + stopped_object: + max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. + drivable_area_generation: polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: From 9e5e166cf770d548c03a6be44710f537b09f4acd Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 25 Dec 2023 18:43:23 +0900 Subject: [PATCH 07/19] feat(start_planner): change collision_check_distance_from_end to shorten back distance ## Description (#754) feat(start_planner): change collision_check_distance_from_end to shorten back distance Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 514d61e225..b96e81a699 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -6,7 +6,7 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margin: 1.0 - collision_check_distance_from_end: 1.0 + collision_check_distance_from_end: -10.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 From 96f2f18d23ba829804415135b241065ecf53b13d Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 25 Dec 2023 23:24:29 +0900 Subject: [PATCH 08/19] feat(start_planner): revert change collision_check_distance_from_end to shorten back distance (#757) Revert "feat(start_planner): change collision_check_distance_from_end to shorten back distance" This reverts commit 680fb05e9bebdff6cf2c9734631cb4e949d7c499. --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index b96e81a699..514d61e225 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -6,7 +6,7 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margin: 1.0 - collision_check_distance_from_end: -10.0 + collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 From 22f04701ad8ad757c954f19c6128a7de6ad78761 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 26 Dec 2023 09:23:57 +0900 Subject: [PATCH 09/19] refactor(behavior_path_planner): rename parameter "extra_arc_length" to "arc_length_range" (#755) Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 0558f6c606..f3393ff5a4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -13,7 +13,7 @@ smoothing: curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length - extra_arc_length: 2.0 # [m] extra arc length where an expansion distance is initially applied + arc_length_range: 2.0 # [m] arc length range where an expansion distance is initially applied ego: extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase extra_front_overhang: 0.5 # [m] extra length to add to the front overhang From 2447f7cf71632ceedd2b51cb889dbe83bc9969ac Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 26 Dec 2023 11:09:12 +0900 Subject: [PATCH 10/19] fix(avoidance): apply params used in xx1 vehicle (#751) * fix(avoidance): use xx1 params Signed-off-by: satoshi-ota * fix(avoidance): expand safety check polygon lateral margin Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 64 +++++++++---------- 1 file changed, 32 insertions(+), 32 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 7117d1d6da..0618185dcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -29,41 +29,41 @@ car: execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + moving_time_threshold: 2.0 # [s] max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.7 # [m] + envelope_buffer_margin: 0.5 # [m] + avoid_margin_lateral: 0.7 # [m] + safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_speed_threshold: 2.0 # 7.2km/h + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_speed_threshold: 2.0 # 7.2km/h + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_speed_threshold: 2.0 # 7.2km/h + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: @@ -71,9 +71,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.1 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: -0.2 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: @@ -81,9 +81,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: @@ -91,9 +91,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.3 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: @@ -101,9 +101,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] @@ -189,7 +189,7 @@ expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s] rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 0.75 # [m] + lateral_distance_max_threshold: 2.0 # [m] longitudinal_distance_min_threshold: 3.0 # [m] longitudinal_velocity_delta_time: 0.8 # [s] From 805756256ce392c1a7ef300251acae85a7f4d76a Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 26 Dec 2023 19:55:45 +0900 Subject: [PATCH 11/19] feat(obstacle_stop_planner): change stop distance after goal (#758) * feat(obstacle_stop/cruise): change stop distance after goal Signed-off-by: kosuke55 * Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml --------- Signed-off-by: kosuke55 --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index c804cea577..8e215a1bcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -17,7 +17,7 @@ # params for stop position stop_position: max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] - max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m] + max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m] min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] From 6bc483a736edd11bebbd264dd7806511364ad015 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Dec 2023 11:30:04 +0900 Subject: [PATCH 12/19] feat(map_based_prediction): map prediction with acc constraints (#759) * Add params for acceleration constraints for map_based_prediction Signed-off-by: Daniel Sanchez * add new param Signed-off-by: Daniel Sanchez * tune params Signed-off-by: Daniel Sanchez * add parameter to switch on and off constraints check Signed-off-by: Daniel Sanchez * improve comment Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 69ff96a263..fe4d2a51ec 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -13,6 +13,9 @@ sigma_yaw_angle_deg: 5.0 #[angle degree] object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] + check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints + max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths + min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 From e17229cf352274ee17c7dadb9320fdcfedf2d6ac Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 27 Dec 2023 11:58:37 +0900 Subject: [PATCH 13/19] feat: make crosswalk decision more aggressive towards the real world's driving (#762) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index e7bdda45de..240963309e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -53,8 +53,8 @@ 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: false # for the crosswalks with traffic signal - disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal + 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] From 5020749764b688eb3f4323331360407b97ce0820 Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Fri, 29 Dec 2023 13:39:50 +0900 Subject: [PATCH 14/19] feat(autoware_launch): update traffic light recognition models (#752) * fix: update model names Signed-off-by: tzhong518 * fix: argument name Signed-off-by: tzhong518 * Update autoware_launch/launch/components/tier4_perception_component.launch.xml * fix: model name Signed-off-by: tzhong518 * fix: add model path Signed-off-by: tzhong518 * Update autoware_launch/launch/components/tier4_perception_component.launch.xml --------- Signed-off-by: tzhong518 Co-authored-by: Yusuke Muramatsu Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- .../launch/components/tier4_perception_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 49156fba51..3a968f0f27 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -127,8 +127,9 @@ - + - + + From 01fb0f25035380e25e757e51de27cd666d74024c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 5 Jan 2024 16:38:49 +0900 Subject: [PATCH 15/19] feat: add parameters to avoid sudden steering in dynamic avoidance (#756) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 29fdca78e5..371f7da2fa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -59,6 +59,10 @@ max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] + max_ego_lat_acc: 0.3 # [m/ss] + max_ego_lat_jerk: 0.3 # [m/sss] + delay_time_ego_shift: 1.0 # [s] + # for same directional object overtaking_object: max_time_to_collision: 40.0 # [s] From fb88b82382af2c70103aba4b606b5c9d096ededd Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 9 Jan 2024 12:55:29 +0900 Subject: [PATCH 16/19] refactor(ndt_scan_matcher, map_loader): remove unused parameters (#769) Removed unused parameters Signed-off-by: Shintaro Sakoda --- .../config/localization/ndt_scan_matcher.param.yaml | 3 --- autoware_launch/config/map/pointcloud_map_loader.param.yaml | 1 - 2 files changed, 4 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 1a6c26cd9c..9bc62d3f91 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,8 +1,5 @@ /**: ros__parameters: - # Use dynamic map loading - use_dynamic_map_loading: true - # Vehicle reference frame base_frame: "base_link" diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml index ba4c032d3e..b4efbec970 100644 --- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml +++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml @@ -3,7 +3,6 @@ enable_whole_load: true enable_downsampled_whole_load: false enable_partial_load: true - enable_differential_load: true enable_selected_load: false # only used when downsample_whole_load enabled From b9cf24d2da1fff71ec2bfd0fde3bb0c8e17ca586 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 9 Jan 2024 13:11:39 +0900 Subject: [PATCH 17/19] feat: add behavior_output_path_interval in behavior_velocity_planner (#773) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index aa51c38b55..b31506918a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -2,6 +2,7 @@ ros__parameters: forward_path_length: 1000.0 backward_path_length: 5.0 + behavior_output_path_interval: 1.0 stop_line_extend_length: 5.0 max_accel: -2.8 max_jerk: -5.0 From fc6d07ff327fd3c9757d8bf3232b924d2656da02 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 9 Jan 2024 13:11:52 +0900 Subject: [PATCH 18/19] feat: tune dynamic avoidance parameters with the real vehicle (#775) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 371f7da2fa..0a563498be 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -38,7 +38,7 @@ crossing_object: min_overtaking_object_vel: 1.0 max_overtaking_object_angle: 1.05 - min_oncoming_object_vel: 0.0 + min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 front_object: @@ -54,7 +54,7 @@ object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 0.8 # [m] + lat_offset_from_obstacle: 1.0 # [m] max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] @@ -66,12 +66,12 @@ # for same directional object overtaking_object: max_time_to_collision: 40.0 # [s] - start_duration_to_avoid: 2.0 # [s] - end_duration_to_avoid: 4.0 # [s] + start_duration_to_avoid: 1.0 # [s] + end_duration_to_avoid: 1.0 # [s] duration_to_hold_avoidance: 3.0 # [s] # for opposite directional object oncoming_object: max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles - start_duration_to_avoid: 12.0 # [s] + start_duration_to_avoid: 1.0 # [s] end_duration_to_avoid: 0.0 # [s] From 24fd44b3a08bd93fcf0afff29218a13afcd13c80 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 9 Jan 2024 18:00:31 +0900 Subject: [PATCH 19/19] fix(lane_change): set lane change parameters to real vehicle environment (#761) Signed-off-by: Fumiya Watanabe --- .../lane_change/lane_change.param.yaml | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 366c093901..57899fada8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -57,14 +57,14 @@ # lane expansion for object filtering lane_expansion: - left_offset: 0.0 # [m] - right_offset: 0.0 # [m] + left_offset: 1.0 # [m] + right_offset: 1.0 # [m] # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0] - min_values: [0.15, 0.15, 0.15] - max_values: [0.5, 0.5, 0.5] + min_values: [0.4, 0.4, 0.4] + max_values: [0.65, 0.65, 0.65] # target object target_object: @@ -72,7 +72,7 @@ truck: true bus: true trailer: true - unknown: true + unknown: false bicycle: true motorcycle: true pedestrian: true @@ -80,14 +80,14 @@ # collision check enable_prepare_segment_collision_check: false prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] - check_objects_on_current_lanes: true - check_objects_on_other_lanes: true + check_objects_on_current_lanes: false + check_objects_on_other_lanes: false use_all_predicted_path: true # lane change regulations regulation: - crosswalk: false - intersection: false + crosswalk: true + intersection: true traffic_light: true # ego vehicle stuck detection @@ -107,4 +107,4 @@ finish_judge_lateral_threshold: 0.2 # [m] # debug - publish_debug_marker: false + publish_debug_marker: true