Merge branch 'main' into main

autowarefoundation · Nov 6, 2023 · e0b8280 · e0b8280
2 parents 3a3e2ba + 80fa7e8
commit e0b8280
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Showing 4 changed files with 44 additions and 38 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -6,6 +6,8 @@
     check_external_emergency_heartbeat: false
     use_start_request: false
     enable_cmd_limit_filter: true
+    filter_activated_count_threshold: 5
+    filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -191,11 +191,18 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          remain_buffer_distance: 30.0                  # [m]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]
           nominal_avoidance_speed: 8.33                 # [m/s]
+        # return dead line
+        return_dead_line:
+          goal:
+            enable: true                                # [-]
+            buffer: 30.0                                # [m]
+          traffic_light:
+            enable: true                                # [-]
+            buffer: 3.0                                 # [m]
 
       # For yield maneuver
       yield:

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -83,6 +83,9 @@
         attention_lane_curvature_calculation_ds: 0.5
         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_to_occlusion: false

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,10 +4,11 @@
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
-  <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
-  <arg name="use_surround_obstacle_check" default="true"/>
-  <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
-  <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="motion_path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
+  <arg name="motion_path_planner_type" default="obstacle_avoidance_planner" description="options: obstacle_avoidance_planner, path_sampler, none"/>
+  <arg name="motion_stop_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
+  <arg name="motion_velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="enable_surround_check" default="true"/>
 
   <!-- variables -->
   <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
@@ -29,37 +30,35 @@
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
-    <arg name="side_shift_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
-    <arg name="avoidance_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
-    <arg name="avoidance_by_lc_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
-    <arg name="dynamic_avoidance_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
-    <arg name="lane_change_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
-    <arg name="goal_planner_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
-    <arg name="start_planner_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
-    <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
-    <arg name="scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
-    <arg name="behavior_path_planner_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
+    <arg name="behavior_path_planner_common_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
+    <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
+    <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
+    <arg name="behavior_path_planner_avoidance_module_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
+    <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
+    <arg name="behavior_path_planner_dynamic_avoidance_module_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
+    <arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
+    <arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
+    <arg name="behavior_path_planner_start_planner_module_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
+    <arg name="behavior_path_planner_drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
 
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
     <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
-    <arg
-      name="behavior_velocity_planner_module_param_paths"
-      value="[$(var behavior_velocity_config_path)/blind_spot.param.yaml,
-              $(var behavior_velocity_config_path)/crosswalk.param.yaml,
-              $(var behavior_velocity_config_path)/walkway.param.yaml,
-              $(var behavior_velocity_config_path)/detection_area.param.yaml,
-              $(var behavior_velocity_config_path)/intersection.param.yaml,
-              $(var behavior_velocity_config_path)/stop_line.param.yaml,
-              $(var behavior_velocity_config_path)/traffic_light.param.yaml,
-              $(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml,
-              $(var behavior_velocity_config_path)/occlusion_spot.param.yaml,
-              $(var behavior_velocity_config_path)/no_stopping_area.param.yaml,
-              $(var behavior_velocity_config_path)/run_out.param.yaml,
-              $(var behavior_velocity_config_path)/speed_bump.param.yaml,
-              $(var behavior_velocity_config_path)/out_of_lane.param.yaml,
-              $(var behavior_velocity_config_path)/no_drivable_lane.param.yaml]"
-    />
+    <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
+    <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
+    <arg name="behavior_velocity_planner_walkway_module_param_path" value="$(var behavior_velocity_config_path)/walkway.param.yaml"/>
+    <arg name="behavior_velocity_planner_detection_area_module_param_path" value="$(var behavior_velocity_config_path)/detection_area.param.yaml"/>
+    <arg name="behavior_velocity_planner_intersection_module_param_path" value="$(var behavior_velocity_config_path)/intersection.param.yaml"/>
+    <arg name="behavior_velocity_planner_stop_line_module_param_path" value="$(var behavior_velocity_config_path)/stop_line.param.yaml"/>
+    <arg name="behavior_velocity_planner_traffic_light_module_param_path" value="$(var behavior_velocity_config_path)/traffic_light.param.yaml"/>
+    <arg name="behavior_velocity_planner_virtual_traffic_light_module_param_path" value="$(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml"/>
+    <arg name="behavior_velocity_planner_occlusion_spot_module_param_path" value="$(var behavior_velocity_config_path)/occlusion_spot.param.yaml"/>
+    <arg name="behavior_velocity_planner_no_stopping_area_module_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
+    <arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
+    <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
+    <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
+    <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>
 
     <!-- parking -->
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
@@ -73,15 +72,10 @@
     <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
     <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
     <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
-    <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
-    <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
-    <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-    <arg name="path_smoother_type" value="$(var path_smoother_type)"/>
-    <arg name="velocity_smoother_type" value="$(var velocity_smoother_type)"/>
 
     <!-- motion velocity smoother -->
     <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var velocity_smoother_type).param.yaml"/>
+    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var motion_velocity_smoother_type).param.yaml"/>
 
     <!-- planning validator -->
     <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>