From 34b8e6cbaf0e7c674d57b3330ce46aa1f50bbc99 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 14 Sep 2023 13:05:47 +0900 Subject: [PATCH 1/6] feat: add parameters for the feature "cosider-current-ego-pose" Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) 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 aadd0ccd02..698ed81dab 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 @@ -106,6 +106,13 @@ successive_num_to_entry_slow_down_condition: 5 successive_num_to_exit_slow_down_condition: 5 + # consider the current ego pose (it is not the nearest pose on the reference trajectory) + # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" + # Both decreasing rates against the time are constant. + consider_current_pose: + enable_to_consider_current_pose: true + time_to_convergence: 1.5 #[s] + cruise: pid_based_planner: use_velocity_limit_based_planner: true From ecd8511963a770f0348412baf30636b8129c335d Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 14 Sep 2023 13:10:40 +0900 Subject: [PATCH 2/6] change description of the parameters Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_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_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 698ed81dab..cb4d6a68c5 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 @@ -108,7 +108,7 @@ # consider the current ego pose (it is not the nearest pose on the reference trajectory) # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" - # Both decreasing rates against the time are constant. + # The both errors decrease with constant rates against the time. consider_current_pose: enable_to_consider_current_pose: true time_to_convergence: 1.5 #[s] From e66977f75079905eafc46f611a341f347a611065 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 20 Sep 2023 13:32:38 +0900 Subject: [PATCH 3/6] set to use obstacle_cruise_planner in order to execute validator Signed-off-by: Yuki Takagi --- .../launch/components/tier4_planning_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..101afc5c35 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,7 +4,7 @@ - + From f8371a171cd9e8c666165e950fbef0b47fa75eb8 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 21 Sep 2023 11:06:08 +0900 Subject: [PATCH 4/6] set to use obstacle_cruise cruise polygon expansion is still true Signed-off-by: Yuki Takagi --- .../launch/components/tier4_planning_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 101afc5c35..ad55c76d82 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,7 +4,7 @@ - + From f9626202520a258095cc192c40f0cad946a9a4ba Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 21 Sep 2023 11:15:11 +0900 Subject: [PATCH 5/6] exp2: use cruise, expansion false Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- .../launch/components/tier4_planning_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 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 cb4d6a68c5..02dd015245 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 @@ -110,7 +110,7 @@ # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" # The both errors decrease with constant rates against the time. consider_current_pose: - enable_to_consider_current_pose: true + enable_to_consider_current_pose: false time_to_convergence: 1.5 #[s] cruise: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..101afc5c35 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,7 +4,7 @@ - + From 55daa3c7f234f26c1479c051d4d9af75d9b9f888 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 21 Sep 2023 14:56:47 +0900 Subject: [PATCH 6/6] set the params to be merged. use stop planner as cruise planner type (conventional setting) polygon expansion in obstacle_cruise_planner is true Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- .../launch/components/tier4_planning_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 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 02dd015245..cb4d6a68c5 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 @@ -110,7 +110,7 @@ # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" # The both errors decrease with constant rates against the time. consider_current_pose: - enable_to_consider_current_pose: false + enable_to_consider_current_pose: true time_to_convergence: 1.5 #[s] cruise: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 101afc5c35..ad55c76d82 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,7 +4,7 @@ - +