From c97cf8bb8d23e93a39e4b31a69ffac90c79ab753 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 15 Nov 2023 23:26:03 +0900 Subject: [PATCH 01/52] fix(detected_object_validation): add param (#669) * fix(detected_object_validation): add param Signed-off-by: badai-nguyen * fix: change to 2d validator use Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../obstacle_pointcloud_based_validator.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml index 22999b411f..b98f8adfb5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -11,3 +11,5 @@ min_points_and_distance_ratio: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + + using_2d_validator: true From 6679b5dec598dd78e05cec1057a3089091d0d9e1 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Thu, 16 Nov 2023 15:25:09 +0900 Subject: [PATCH 02/52] feat(radar_object_clustering): move radar object clustering params to autoware_launch (#672) * add radar object clustering param path Signed-off-by: yoshiri * style(pre-commit): autofix --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../clustering/radar_object_clustering.param.yaml | 15 +++++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 19 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml new file mode 100644 index 0000000000..2abbf14622 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # clustering parameter + angle_threshold: 0.174 # [rad] (10 deg) + distance_threshold: 10.0 # [m] + velocity_threshold: 4.0 # [m/s] + + # output object settings + # set false if you want to use the object information from radar + is_fixed_label: true + fixed_label: "CAR" + is_fixed_size: true + size_x: 4.0 # [m] + size_y: 1.5 # [m] + size_z: 1.5 # [m] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index db79336fb5..ece7bee52c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -72,6 +72,10 @@ name="object_recognition_detection_radar_lanelet_filtering_range_param" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml" /> + Date: Thu, 16 Nov 2023 17:10:30 +0900 Subject: [PATCH 03/52] fix(avoidance): prevent sudden steering at yield maneuver (#690) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 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 98d75415d0..f3f04270d6 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 @@ -190,7 +190,8 @@ max_deviation_from_lane: 0.5 # [m] # avoidance distance parameters longitudinal: - prepare_time: 2.0 # [s] + min_prepare_time: 1.0 # [s] + max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] From 8f660e4def5910b811fcc42c454e7b70bb5c3650 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 16 Nov 2023 18:06:08 +0900 Subject: [PATCH 04/52] feat(out_of_lane): more stable decisions (#612) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/out_of_lane.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index c74c5b3d87..b55c3b21de 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -2,7 +2,7 @@ ros__parameters: out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" - skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane + skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane threshold: time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time @@ -17,6 +17,7 @@ use_predicted_paths: true # if true, use the predicted paths to estimate future positions. # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered @@ -26,6 +27,7 @@ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap velocity: 2.0 # [m/s] slowdown velocity From 31961eb34ec34f589bd732f946a4b62edc3ba2b8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 23:07:25 +0900 Subject: [PATCH 05/52] feat: lane_departure_checker with curbstones (#687) Signed-off-by: Takayuki Murooka --- .../lane_departure_checker.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 2d044e7cfd..253737609b 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: # Enable feature - will_out_of_lane_checker: true - out_of_lane_checker: true - boundary_departure_checker: false + will_out_of_lane_checker: false + out_of_lane_checker: false + boundary_departure_checker: true # Node update_rate: 10.0 @@ -12,7 +12,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false - boundary_types_to_detect: [road_border] + boundary_types_to_detect: [curbstone] # Core footprint_margin_scale: 1.0 From 3c9d39d3d3bc11fab08e6d3f726fe4ce980bbaba Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 23:13:45 +0900 Subject: [PATCH 06/52] feat: enable and tune drivable area expansion (#689) enable drivable area expansion Signed-off-by: Takayuki Murooka --- .../drivable_area_expansion.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 e1a0c7e38d..0558f6c606 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 @@ -7,7 +7,7 @@ # Dynamic expansion by using the path curvature dynamic_expansion: - enabled: false + enabled: true print_runtime: false max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) smoothing: @@ -19,14 +19,14 @@ extra_front_overhang: 0.5 # [m] extra length to add to the front overhang extra_width: 1.0 # [m] extra length to add to the width dynamic_objects: - avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects + avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the dynamic object footprint rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint left: 0.5 # [m] extra length to add to the left of the dynamic object footprint right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint path_preprocessing: - max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) + max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used) reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused. avoid_linestring: From 1d365edfca6263fb164e360147b94d7f977a36cd Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 17 Nov 2023 15:57:23 +0900 Subject: [PATCH 07/52] fix(lane_change): regulate at the traffic light (#673) Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 b7ae55536e..366c093901 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 @@ -88,6 +88,7 @@ regulation: crosswalk: false intersection: false + traffic_light: true # ego vehicle stuck detection stuck_detection: From aa96dead98ffb1fc09dd6d2c630ac2257b1dc219 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 20 Nov 2023 10:33:14 +0900 Subject: [PATCH 08/52] feat(component_state_monitor): monitor pose_estimator output (#692) Signed-off-by: kminoda --- .../system/component_state_monitor/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index c00203dbb6..5672d13dcb 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -50,6 +50,19 @@ error_rate: 1.0 timeout: 1.0 +- module: localization + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: pose_estimator_pose + topic: /localization/pose_estimator/pose_with_covariance + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: perception mode: [online, logging_simulation] type: launch From 6f2b8ba8332153e23f3c50daefbd3900e3adb584 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 20 Nov 2023 18:13:18 +0900 Subject: [PATCH 09/52] refactor(start_planner): add verbose parameter for debug print (#693) Add verbose option to start planner parameters Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 1424b58d22..7652cf1e6f 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 @@ -1,6 +1,9 @@ /**: ros__parameters: start_planner: + + verbose: true + th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 From d46616183681682d2b5747e39a7bee71a7786e6c Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 21 Nov 2023 10:25:32 +0900 Subject: [PATCH 10/52] fix(start_planner): disbale verbose flag to false in start_planner.param.yaml (#696) Change verbose flag to false in start_planner.param.yaml Signed-off-by: kyoichi-sugahara --- .../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 7652cf1e6f..c83be4ea15 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 @@ -2,7 +2,7 @@ ros__parameters: start_planner: - verbose: true + verbose: false th_arrived_distance: 1.0 th_stopped_velocity: 0.01 From 258c5665c25e5eae515d538abefec345fc9ef544 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 24 Nov 2023 17:07:10 +0900 Subject: [PATCH 11/52] feat(goal_planner): add time hysteresis to keep unsafe (#700) feat(goal_planner): add tiem hysteresis to keep unsafe Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 295c9caf84..d04676f365 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -160,6 +160,7 @@ safety_check_params: # safety check configuration enable_safety_check: false # Don't set to true if auto_mode is enabled + keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true publish_debug_marker: false From fbc524f774b87d4c07a09df622f0beb7d57900f9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 24 Nov 2023 17:31:08 +0900 Subject: [PATCH 12/52] feat(start_planner): enable safety check for start planner (#702) Enable safety check feature for start planner Signed-off-by: kyoichi-sugahara --- .../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 c83be4ea15..6f85128264 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 @@ -125,7 +125,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true # collision check parameters check_all_predicted_path: true publish_debug_marker: false From 5a4fbf425d3f4c5e253c21abc012d13fb65d3fc7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 24 Nov 2023 19:10:45 +0900 Subject: [PATCH 13/52] feat(avoidance): add new parameter for target object filtering (#668) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index f3f04270d6..d3032ffdd3 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 @@ -146,6 +146,10 @@ front_distance: 30.0 # [m] behind_distance: 30.0 # [m] + # params for filtering objects that are in intersection + intersection: + yaw_deviation: 0.349 # [rad] (default 20.0deg) + # For safety check safety_check: # safety check configuration From 7580bc72aa13f8de753237693f757a171171327c Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Sat, 25 Nov 2023 15:57:39 +0900 Subject: [PATCH 14/52] feat(map_based_prediction): consider only routable neighbours for lane change (#703) Signed-off-by: Mehmet Dogru --- .../prediction/map_based_prediction.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 260ae45da2..69ff96a263 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 @@ -29,5 +29,6 @@ diff_dist_threshold_to_left_bound: 0.29 #[m] diff_dist_threshold_to_right_bound: -0.29 #[m] num_continuous_state_transition: 3 + consider_only_routable_neighbours: false reference_path_resolution: 0.5 #[m] From 860dc12299f6a34be8c48da9b8bae6e3c6a7b602 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 26 Nov 2023 23:18:48 +0900 Subject: [PATCH 15/52] feat(goal_planner): safer safety checker (#701) * feat(goal_planner): safer safety checker Signed-off-by: kosuke55 fix fix fix fix * disable safety check Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d04676f365..118268d854 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -130,7 +130,7 @@ safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range - object_check_forward_distance: 10.0 + object_check_forward_distance: 100.0 object_check_backward_distance: 100.0 ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck @@ -160,6 +160,7 @@ safety_check_params: # safety check configuration enable_safety_check: false # Don't set to true if auto_mode is enabled + method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true @@ -170,6 +171,11 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + integral_predicted_polygon_params: + forward_margin: 1.0 + backward_margin: 1.0 + lat_margin: 1.0 + time_horizon: 10.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 # temporary From 17a27ac72db3391ea495246de5c3519d20951896 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 26 Nov 2023 23:23:37 +0900 Subject: [PATCH 16/52] feat(goal_planenr): enable safety check (#705) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 118268d854..d339ed99ff 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -159,7 +159,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters From 1e78babc7f99c89c26f0328f16bace420f6461bd Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Sun, 26 Nov 2023 23:25:50 +0900 Subject: [PATCH 17/52] feat(run_out): add parameter to decide whether to use the object's velocity (#704) Signed-off-by: Tomohito Ando --- .../run_out.param.yaml | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) 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 ca24c59598..f265594a38 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 @@ -21,14 +21,17 @@ # parameter to create abstracted dynamic obstacles dynamic_obstacle: - use_mandatory_area: false # [-] whether to use mandatory detection area - min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles - max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles - diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points - height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 10.0 # [sec] create predicted path until this time - time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path - points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method + use_mandatory_area: false # [-] whether to use mandatory detection area + assume_fixed_velocity: + enable: false # [-] If enabled, the obstacle's velocity is assumed to be within the minimum and maximum velocity values specified below + min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles + max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles + std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance + diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points + height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points + max_prediction_time: 10.0 # [sec] create predicted path until this time + time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path + points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method # approach if ego has stopped in the front of the obstacle for a certain amount of time approaching: From 1a37eb39848349169aed74f62f7c1c5a34dfa76e Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 27 Nov 2023 09:07:58 +0900 Subject: [PATCH 18/52] feat(pid_longitudinal_controller): error integration on vehicle takeoff (#698) * add parameter for PID integration time threshold Signed-off-by: Daniel Sanchez * add param to enable or disable low speed error integration Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index bc3213081d..c39088753f 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -32,7 +32,9 @@ max_d_effort: 0.0 min_d_effort: 0.0 lpf_vel_error_gain: 0.9 + enable_integration_at_low_speed: false current_vel_threshold_pid_integration: 0.5 + time_threshold_before_pid_integration: 2.0 enable_brake_keeping_before_stop: false brake_keeping_acc: -0.2 From 1076688c21b65444ee1516833505f1988e29af39 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 27 Nov 2023 13:56:08 +0900 Subject: [PATCH 19/52] feat: add parameters for the front object decision in dynamic_avoidance module (#706) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 2 ++ 1 file changed, 2 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 bf9c815405..9ee86a06a4 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 @@ -41,6 +41,8 @@ front_object: max_object_angle: 0.785 + min_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. drivable_area_generation: object_path_base: From 5ec4778d3ad60d9c037cb391deedd63377eaf17f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 28 Nov 2023 19:29:17 +0900 Subject: [PATCH 20/52] feat(avoidance): configurable object type for safety check (#709) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 28 +++++++++++++------ .../avoidance_by_lc.param.yaml | 21 ++++++++------ 2 files changed, 33 insertions(+), 16 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 d3032ffdd3..27f6a0df63 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 @@ -27,7 +27,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -38,7 +37,6 @@ 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: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -49,7 +47,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -60,7 +57,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -71,7 +67,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -82,7 +77,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -93,7 +87,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -104,7 +97,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -119,6 +111,16 @@ # For target object filtering target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -152,6 +154,16 @@ # For safety check safety_check: + # safety check target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration enable: true # [-] check_current_lane: false # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index bd8545d9e6..74c6112c0e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -7,7 +7,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 2 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -16,7 +15,6 @@ avoid_margin_lateral: 0.0 # [m] safety_buffer_lateral: 0.0 # [m] truck: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -25,7 +23,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bus: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -34,7 +31,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 trailer: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -43,7 +39,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -52,7 +47,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bicycle: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -61,7 +55,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 motorcycle: - is_target: false execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -70,7 +63,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 pedestrian: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -80,3 +72,16 @@ safety_buffer_lateral: 1.0 lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] + + # For target object filtering + target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: false # [-] + motorcycle: false # [-] + pedestrian: false # [-] From 27794596739362fe2784cc38143d7d660c45e279 Mon Sep 17 00:00:00 2001 From: Naophis Date: Wed, 29 Nov 2023 17:47:05 +0900 Subject: [PATCH 21/52] feat: disable obstacle avoidance debug marker for optimization (#711) feat: disable obstacle avoidance debug marker --- .../obstacle_avoidance_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_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index bb64006656..9ab8f42bcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -8,7 +8,7 @@ debug: # flag to publish - enable_pub_debug_marker: true # publish debug marker + enable_pub_debug_marker: false # publish debug marker enable_pub_extra_debug_marker: false # publish extra debug marker # flag to show From 51157f2c793423d1c2e22e9054dc4c747934cd0a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 30 Nov 2023 11:40:03 +0900 Subject: [PATCH 22/52] feat: add several min_object_vel in dynamic_avoidance (#707) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 9ee86a06a4..24bc144c40 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 @@ -28,10 +28,12 @@ cut_in_object: min_time_to_start_cut_in: 1.0 # [s] min_lon_offset_ego_to_object: 0.0 # [m] + min_object_vel: 0.5 # [m/s] cut_out_object: max_time_from_outside_ego_path: 2.0 # [s] min_object_lat_vel: 0.3 # [m/s] + min_object_vel: 0.5 # [m/s] crossing_object: min_overtaking_object_vel: 1.0 @@ -41,7 +43,7 @@ front_object: max_object_angle: 0.785 - min_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + 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. drivable_area_generation: From 388d19c391b7f81ddbf5e4d40dc0bcbdd9b618df Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 30 Nov 2023 20:54:46 +0900 Subject: [PATCH 23/52] fix(crosswalk): don't stop in front of the crosswalk if vehicle stuck in intersection (#714) Signed-off-by: satoshi-ota --- .../behavior_velocity_planner/crosswalk.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 d99c70c5f6..d9d2c407bb 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 @@ -27,6 +27,7 @@ # param for stuck vehicles stuck_vehicle: + enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk From afdc3fb18a15556ed70444fdebefe6de8ad12744 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 1 Dec 2023 21:25:48 +0900 Subject: [PATCH 24/52] feat(avoidance): keep stopping until all shift lines are registered (#699) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 27f6a0df63..c68c10f2a9 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 @@ -231,6 +231,10 @@ stop_buffer: 1.0 # [m] policy: + # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". + # "per_shift_line": request approval for each shift line. + # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). + make_approval_request: "per_shift_line" # policy for vehicle slow down behavior. select "best_effort" or "reliable". # "best_effort": slow down deceleration & jerk are limited by constraints. # but there is a possibility that the vehicle can't stop in front of the vehicle. From 608beba558bedd503d2d825ce68df160ad436605 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Sat, 2 Dec 2023 05:24:24 +0900 Subject: [PATCH 25/52] refactor(intersection): rename param, update doc (#708) --- .../intersection.param.yaml | 97 +++++++++---------- 1 file changed, 48 insertions(+), 49 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 22f68733a3..1e6ce843de 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 @@ -2,42 +2,47 @@ ros__parameters: intersection: common: - attention_area_margin: 0.75 # [m] - attention_area_length: 200.0 # [m] - attention_area_angle_threshold: 0.785 # [rad] - stop_line_margin: 3.0 - intersection_velocity: 2.778 # 2.778m/s = 10.0km/h - intersection_max_accel: 0.5 # m/ss - stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection + attention_area_length: 200.0 + attention_area_margin: 0.75 + attention_area_angle_threshold: 0.785 use_intersection_area: false - path_interpolation_ds: 0.1 # [m] - consider_wrong_direction_vehicle: false + default_stopline_margin: 3.0 + stopline_overshoot_margin: 0.5 + path_interpolation_ds: 0.1 max_accel: -2.8 max_jerk: -5.0 delay_response_time: 0.5 + stuck_vehicle: turn_direction: left: true right: true straight: true - use_stuck_stopline: true # stopline generated before the first conflicting area - stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. - stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h - # enable_front_car_decel_prediction: false # By default this feature is disabled - # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning - timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area - enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true. - yield_stuck: - turn_direction: - left: true - right: false - straight: false - distance_thr: 1.0 # [m] + use_stuck_stopline: true + stuck_vehicle_detect_dist: 5.0 + 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 + + yield_stuck: + turn_direction: + left: true + right: false + straight: false + distance_threshold: 1.0 collision_detection: - state_transit_margin_time: 0.5 + consider_wrong_direction_vehicle: false + collision_detection_hold_time: 0.5 min_predicted_path_confidence: 0.05 - minimum_ego_predicted_velocity: 1.388 # [m/s] + keep_detection_velocity_threshold: 0.833 + velocity_profile: + use_upstream: true + minimum_upstream_velocity: 0.01 + default_velocity: 2.778 + minimum_default_velocity: 1.388 fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 @@ -45,52 +50,46 @@ collision_start_margin_time: 3.0 collision_end_margin_time: 2.0 not_prioritized: - collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object - keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr - use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module - minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity + collision_start_margin_time: 3.0 + collision_end_margin_time: 2.0 yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 3.0 - object_dist_to_stopline: 10.0 # [m] + object_dist_to_stopline: 10.0 ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 # [m/ss] + object_expected_deceleration: 2.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 occlusion: enable: false - occlusion_attention_area_length: 70.0 # [m] - enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line - occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line - peeking_offset: -0.5 # [m] offset for peeking into detection area + occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 - do_dp: true - before_creep_stop_time: 0.1 # [s] - min_vehicle_brake_for_rss: -2.5 # [m/s^2] - max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph - denoise_kernel: 1.0 # [m] - possible_object_bbox: [1.5, 2.5] # [m x m] - ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h - stop_release_margin_time: 1.5 # [s] - temporal_stop_before_attention_area: false - absence_traffic_light: - creep_velocity: 1.388 # [m/s] - maximum_peeking_distance: 6.0 # [m] + denoise_kernel: 1.0 attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.5 + creep_during_peeking: + enable: false + creep_velocity: 0.8333 + peeking_offset: -0.5 + occlusion_required_clearance_distance: 55 + possible_object_bbox: [1.5, 2.5] + ignore_parked_vehicle_speed_threshold: 0.8333 + occlusion_detection_hold_time: 1.5 + temporal_stop_time_before_peeking: 0.1 + temporal_stop_before_attention_area: false + creep_velocity_without_traffic_light: 1.388 static_occlusion_with_traffic_light_timeout: 0.5 debug: ttc: [0] enable_rtc: - intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + intersection: false intersection_to_occlusion: false merge_from_private: - stop_line_margin: 3.0 + stopline_margin: 3.0 stop_duration_sec: 1.0 stop_distance_threshold: 1.0 From c991d2af6fd95776157b52b88939b92a0517eb6e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 4 Dec 2023 11:50:20 +0900 Subject: [PATCH 26/52] chore(obstacle_cruise)!: remove unused params (#716) chore!: remove unused params Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 4c9f84d5eb..90e897fda3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -70,9 +70,6 @@ behavior_determination: decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking - goal_extension_length: 5.0 # extension length for collision check around the goal - goal_extension_interval: 1.0 # extension interval for collision check around the goal - prediction_resampling_time_interval: 0.1 prediction_resampling_time_horizon: 10.0 From 6d6af420cb334cbd2a2e59dc78d19eb77fb2609a Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 5 Dec 2023 14:37:27 +0900 Subject: [PATCH 27/52] refactor(multi_object_tracker): add multi_object_tracker node param (#718) * add multi_object_tracker node param Signed-off-by: yoshiri * add additional node parameters for future update * style(pre-commit): autofix * fix default value --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../multi_object_tracker_node.param.yaml | 18 ++++++++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 22 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml new file mode 100644 index 0000000000..ae1e9d31e6 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + # default tracker models for each class + car_tracker: "multi_vehicle_tracker" + truck_tracker: "multi_vehicle_tracker" + bus_tracker: "multi_vehicle_tracker" + trailer_tracker: "multi_vehicle_tracker" + pedestrian_tracker: "pedestrian_and_bicycle_tracker" + bicycle_tracker: "pedestrian_and_bicycle_tracker" + motorcycle_tracker: "pedestrian_and_bicycle_tracker" + + # default tracker node parameters + publish_rate: 10.0 + world_frame_id: map + enable_delay_compensation: true + pass_through_unknown_objects: false + publish_untracked_objects: false + debug_flag: false diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index ece7bee52c..49156fba51 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -81,6 +81,10 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> + Date: Tue, 5 Dec 2023 15:13:47 +0900 Subject: [PATCH 28/52] refactor(start_planner): refactor debug and safety check logic (#719) refactor(start_planner): refactor debug parameters This commit removes the `verbose` parameter under `start_planner` and introduces a new `debug` section. The newly added `debug` section includes a `print_debug_info` parameter, set to false by default. This change provides a more structured way to handle debugging configurations for the start planner. Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 8 +++++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d339ed99ff..06fe74e3b7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -119,7 +119,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 1.0 - acceleration: 1.0 + min_acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 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 6f85128264..420d9b5fcc 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 @@ -2,8 +2,6 @@ ros__parameters: start_planner: - verbose: false - th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 @@ -85,7 +83,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 0.0 - acceleration: 1.0 + min_acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 @@ -140,3 +138,7 @@ # temporary backward_path_length: 30.0 forward_path_length: 100.0 + + # debug + debug: + print_debug_info: false From 54f5d6e94557e0e83b245e5e5963eb57f7df589c Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Tue, 5 Dec 2023 18:21:38 +0900 Subject: [PATCH 29/52] feat(component_state_monitor): monitor traffic light recognition output (#720) Signed-off-by: Tomohito Ando --- .../system/component_state_monitor/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 5672d13dcb..f8c6f9685f 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -89,6 +89,19 @@ error_rate: 1.0 timeout: 1.0 +- module: perception + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: traffic_light_recognition_traffic_signals + topic: /perception/traffic_light_recognition/traffic_signals + topic_type: autoware_perception_msgs/msg/TrafficSignalArray + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: planning mode: [online, logging_simulation, planning_simulation] type: autonomous From 42ea6834b876a68b6b60dd0c10b29ae79759ee81 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 5 Dec 2023 18:47:45 +0900 Subject: [PATCH 30/52] feat(rviz): fix perception debug topics in Rviz (#721) fix perception debug topics in Rviz Signed-off-by: Shunsuke Miura --- autoware_launch/rviz/autoware.rviz | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c30060659a..97dd22a13d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2485,13 +2485,13 @@ Visualization Manager: Perception: CameraLidarFusion(purple): true Centerpoint(red1): true - CenterpointROIFusion(red3): true - CenterpointValidator(red2): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true Detection(yellow): true DetectionByTracker(cyan): true PointPainting(light_green1): true - PointPaintingROIFusion(light_green3): true - PointPaintingValidator(light_green2): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true Prediction(light_blue): true RadarFarObjects(white): true Tracking(green): true @@ -2954,7 +2954,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 255; 82; 82 - Name: CenterpointValidator(red2) + Name: CenterpointROIFusion(red2) Namespaces: {} PEDESTRIAN: @@ -2972,7 +2972,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/centerpoint/validation/objects + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 82; 82 @@ -3001,7 +3001,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 213; 0; 0 - Name: CenterpointROIFusion(red3) + Name: CenterpointValidator(red3) Namespaces: {} PEDESTRIAN: @@ -3095,7 +3095,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 118; 255; 3 - Name: PointPaintingValidator(light_green2) + Name: PointPaintingROIFusion(light_green2) Namespaces: {} PEDESTRIAN: @@ -3113,7 +3113,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/pointpainting/validation/objects + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects UNKNOWN: Alpha: 0.9990000128746033 Color: 118; 255; 3 @@ -3142,7 +3142,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 100; 221; 23 - Name: PointPaintingROIFusion(light_green3) + Name: PointPaintingValidator(light_green3) Namespaces: {} PEDESTRIAN: From 0960260213a189e895f1c13d84c02603acf429f2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 5 Dec 2023 23:46:47 +0900 Subject: [PATCH 31/52] feat: add polygon_generation_method in dynamic_avoidance (#715) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_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/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 24bc144c40..854c29aa89 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 @@ -47,6 +47,7 @@ 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. drivable_area_generation: + polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] From 0472cb9ac3254a719c92657516c306cad699fcdb Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 7 Dec 2023 01:04:46 +0900 Subject: [PATCH 32/52] feat(start_planner): add surround moving obstacle check (#723) update start_planner.param.yaml Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 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 420d9b5fcc..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 @@ -84,7 +84,6 @@ ego_predicted_path: min_velocity: 0.0 min_acceleration: 1.0 - max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 time_resolution: 0.5 @@ -139,6 +138,20 @@ backward_path_length: 30.0 forward_path_length: 100.0 + surround_moving_obstacle_check: + search_radius: 10.0 + th_moving_obstacle_velocity: 1.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + # debug debug: print_debug_info: false From 36804c87f61a0a13a4e6221c4effc1fa183b71aa Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Thu, 7 Dec 2023 10:43:58 +0900 Subject: [PATCH 33/52] fix(multi_object_tracker): fix psim launcher related to tracking launch changes (#724) * add multi_object_tracker node param Signed-off-by: yoshiri * add additional node parameters for future update * style(pre-commit): autofix * fix default value * update simulator component launch Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../launch/components/tier4_simulator_component.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 02f9a8243c..a8503818cd 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -39,6 +39,10 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> + From 192a250c8be3aca7c8115aa7d9d2a9c3f23944ff Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 11 Dec 2023 09:49:02 +0900 Subject: [PATCH 34/52] fix(traffic_light): stop if the traffic light signal timed out (#727) Signed-off-by: Fumiya Watanabe --- .../behavior_velocity_planner/traffic_light.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index a837ae1b46..23746a61b6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -3,6 +3,7 @@ traffic_light: stop_margin: 0.0 tl_state_timeout: 1.0 + stop_time_hysteresis: 0.1 yellow_lamp_period: 2.75 enable_pass_judge: true enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From f6d63f6a9374b9d00569888bb6b72da04967b33b Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 11 Dec 2023 10:55:13 +0900 Subject: [PATCH 35/52] feat(obstacle_cruise_planner): add slow down acc and jerk params (#726) Add slow down acc and jerk params Signed-off-by: Daniel Sanchez --- .../planning/scenario_planning/common/common.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 6bb130e805..03958fda9a 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -7,6 +7,10 @@ min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] + slow_down: + min_acc: -1.0 # min deceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + # constraints to be observed limit: min_acc: -2.5 # min deceleration limit [m/ss] From d51f96721de513b1b8af707a1dc7968ca9e5a283 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 11 Dec 2023 15:57:31 +0900 Subject: [PATCH 36/52] chore(crosswalk): sync a config file to the univese one (#729) update comment, by sync to the univese one Signed-off-by: Yuki Takagi --- .../crosswalk.param.yaml | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 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 d9d2c407bb..6559f39278 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 @@ -9,7 +9,7 @@ # param for stop position stop_position: - stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding + stop_position_threshold: 1.0 # [m] If the ego vehicle has stopped near the stop line than this value, this module assumes itself to have achieved yielding. # For the Lanelet2 map with no explicit stop lines stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk @@ -18,24 +18,24 @@ # For the case where the stop position is determined according to the object position. stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin - # param for ego's slow down velocity + # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false". slow_down: min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph) max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake 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) - # param for stuck vehicles + # params to prevent stopping on crosswalks due to another vehicle ahead stuck_vehicle: enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection - stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck - max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked - stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk - min_acc: -1.0 # min acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - max_jerk: 1.0 # max jerk [m/sss] + stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not. + 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 exists 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) @@ -44,21 +44,21 @@ 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] - max_jerk: 1.0 # max jerk [m/sss] + min_acc: -1.0 # min acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] 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 crosswalk where there is a traffic signal - disable_yield_for_new_stopped_object: false # 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: From 4bd395183f3de4f4b93952eff3993c870d26057e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 11 Dec 2023 18:50:34 +0900 Subject: [PATCH 37/52] fix(crosswalk): fix inappropriate sync (#731) fix in-appropriate sync Signed-off-by: Yuki Takagi --- .../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 6559f39278..548e2f9b14 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: true # for the crosswalks with traffic signal - disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal + 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 # 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 1251b3ae3e307adfc9ccf72be245b04d7a1616fb Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 12 Dec 2023 17:12:31 +0900 Subject: [PATCH 38/52] feat(multi_object_tracker): update tracker parameter yaml (#732) * add multi_object_tracker node param Signed-off-by: yoshiri * add additional node parameters for future update * style(pre-commit): autofix * fix default value * update simulator component launch Signed-off-by: yoshiri * feat: update multi_object_tracker node param Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../multi_object_tracker_node.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index ae1e9d31e6..f58de8e615 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -15,4 +15,9 @@ enable_delay_compensation: true pass_through_unknown_objects: false publish_untracked_objects: false - debug_flag: false + + # debug parameters + publish_processing_time: false + publish_tentative_objects: false + diagnostic_warn_delay: 0.5 # [sec] + diagnostic_error_delay: 1.0 # [sec] From d09293c9d5494ad9144cf98833b836291ac1e2e5 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 12 Dec 2023 17:13:20 +0900 Subject: [PATCH 39/52] refactor(localization_component_launch): rename lidar topic (#722) rename lidar topic Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../launch/components/tier4_localization_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 5fe0d856d2..88b326b2f7 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -3,7 +3,7 @@ - + From 33b12ba80ffed84d578854bb112d9748b81d7445 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 15 Dec 2023 09:42:46 +0900 Subject: [PATCH 40/52] feat(rviz_config): add objects of interest marker (#738) Signed-off-by: Fumiya Watanabe --- autoware_launch/rviz/autoware.rviz | 174 ++++++++++++++++++++++++++++- 1 file changed, 173 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 97dd22a13d..bc22eadb70 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3451,7 +3451,179 @@ Visualization Manager: Enabled: true Name: Perception - Class: rviz_common/Group - Displays: ~ + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + Enabled: true + Name: Objects Of Interest Enabled: true Name: Planning - Class: rviz_common/Group From 304ffb41db32664a5bab94b8cd4fe93278ce41d4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 15 Dec 2023 10:26:55 +0900 Subject: [PATCH 41/52] feat(crosswalk): ignore predicted path going across the crosswalk (#733) --- .../behavior_velocity_planner/crosswalk.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 548e2f9b14..e7bdda45de 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 @@ -63,6 +63,7 @@ # param for target object filtering object_filtering: crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk + vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle target_object: unknown: true # [-] whether to look and stop by UNKNOWN objects bicycle: true # [-] whether to look and stop by BICYCLE objects From 0d35c8a7b4c6e8aa26e5ba6feed3586845640261 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 15 Dec 2023 16:41:00 +0900 Subject: [PATCH 42/52] chore(image_projection_based_fusion): add param (#739) * chore(image_projection_based_fusion): add param Signed-off-by: badai-nguyen * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../image_projection_based_fusion/roi_sync.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml index 21ba13787f..0e4c52ba92 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml @@ -3,3 +3,9 @@ input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] timeout_ms: 70.0 match_threshold_ms: 50.0 + filter_scope_min_x: -100.0 + filter_scope_min_y: -100.0 + filter_scope_min_z: -100.0 + filter_scope_max_x: 100.0 + filter_scope_max_y: 100.0 + filter_scope_max_z: 100.0 From a368c13ebd8185cf2da40fb75e6053a44970f6e8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 18 Dec 2023 14:05:16 +0900 Subject: [PATCH 43/52] refactor(autoware_launch): remove use_experimental_lane_change_function (#741) Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index fa4a2e4308..7bd3dd26b3 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -30,9 +30,6 @@ launch: - arg: name: launch_side_shift_module default: "true" - - arg: - name: use_experimental_lane_change_function - default: "true" # behavior velocity modules - arg: From cf56d2c2c5b5785ccb8034b713b05cef37ad4cf7 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 18 Dec 2023 22:07:03 +0900 Subject: [PATCH 44/52] fix(intersection): generate yield stuck detect area from multiple lanes (#742) --- .../behavior_velocity_planner/intersection.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/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 1e6ce843de..997addd48d 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 @@ -29,9 +29,9 @@ yield_stuck: turn_direction: left: true - right: false + right: true straight: false - distance_threshold: 1.0 + distance_threshold: 5.0 collision_detection: consider_wrong_direction_vehicle: false From 0c9f74e5736aa34b00a61ed4be9a588b832c4a36 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 19 Dec 2023 11:22:06 +0900 Subject: [PATCH 45/52] feat(run_out)!: ignore the collision points on crosswalk (#737) suppress on crosswalk Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/run_out.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 f265594a38..ccd263bf3a 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 @@ -3,6 +3,7 @@ run_out: 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 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 From 989c899d1c14d662f3f9b299415699d32ce06da6 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 19 Dec 2023 14:00:45 +0900 Subject: [PATCH 46/52] feat(blind_spot): consider opposite adjacent lane for wrong vehicles (#695) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/blind_spot.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 0950ece4ae..7bd7d88230 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -8,4 +8,5 @@ max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] + opposite_adjacent_extend_width: 1.5 # [m] enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. From 024254c82f2687deddfadba716afe0f2b8a3a03c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 19 Dec 2023 17:48:46 +0900 Subject: [PATCH 47/52] fix(avoidance): shorten the parameter (#745) Signed-off-by: satoshi-ota --- .../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 c68c10f2a9..d50b1ad42c 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 @@ -216,7 +216,7 @@ return_dead_line: goal: enable: true # [-] - buffer: 30.0 # [m] + buffer: 25.0 # [m] traffic_light: enable: true # [-] buffer: 3.0 # [m] From 829f8e9a873c07f7ad99dbe82561afe40de5f181 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 20 Dec 2023 13:01:09 +0900 Subject: [PATCH 48/52] 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 49/52] 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 50/52] 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 51/52] 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 52/52] 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]