From ffb149ad542257cbfea427ddb8083f4ac5605914 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 1 Aug 2023 18:44:21 +0900 Subject: [PATCH 1/7] feat(autoware_launch): add option of disable_yield_for_new_stopped_object in crosswalk (#491) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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 277381c283..bdcc85f599 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 @@ -41,7 +41,8 @@ stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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 + 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 timeout_no_intention_to_walk: 1.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. timeout_ego_stop_for_yield: 1.0 # [s] the amount of time which ego should be stopping to query whether it yields or not From 90cb1df45a119b285728f8234977add13e5c3834 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 2 Aug 2023 09:36:44 +0900 Subject: [PATCH 2/7] feat(autoware_launch): add chattering suppression margin in crosswalk (#494) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 bdcc85f599..fc7479adb3 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 @@ -37,8 +37,10 @@ # param for pass judge logic pass_judge: ego_pass_first_margin: 4.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) + ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering 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 From e7c945f15b303fc8b11abb3e748dafe4c8fb0d54 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 2 Aug 2023 11:36:23 +0900 Subject: [PATCH 3/7] feat(autoware_launch): add pass juge line parameter in crosswalk (#495) Signed-off-by: Takayuki Murooka --- .../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 fc7479adb3..eee044bddf 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 @@ -41,6 +41,7 @@ ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering + 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_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 From 56fd8597decb7bce2ba4ec1cc10ad1a993508322 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 2 Aug 2023 14:19:53 +0900 Subject: [PATCH 4/7] feat(autoware_launch): add gradable pass margin in crosswalk (#496) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 6 ++++-- 1 file changed, 4 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 eee044bddf..2ae98e58a2 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 @@ -36,10 +36,12 @@ # param for pass judge logic pass_judge: - ego_pass_first_margin: 4.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + 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: [4.0] # [[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) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering - ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) + ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle 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_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 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_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) From f07aa654dd03b0333428e1bbc46686abb1b265bd Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 10 Aug 2023 01:42:20 +0900 Subject: [PATCH 5/7] disable conservative yield Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 2ae98e58a2..0f4385e97f 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 @@ -46,8 +46,8 @@ 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_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 + disable_stop_for_yield_cancel: true # for the crosswalk where there is a traffic signal + disable_yield_for_new_stopped_object: true # for the crosswalk where there is a traffic signal timeout_no_intention_to_walk: 1.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. timeout_ego_stop_for_yield: 1.0 # [s] the amount of time which ego should be stopping to query whether it yields or not From a2c1a70c020b9a59bc57ff92959d007dc6a67d17 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 09:42:15 +0900 Subject: [PATCH 6/7] update ego_pass_first_margin: 4.0 -> 6.0 Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 0f4385e97f..35500b462f 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 @@ -37,7 +37,7 @@ # param for pass judge logic 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: [4.0] # [[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) + 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) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) From fd92bebd94b04c5482080ee8fa9aa01983a2b157 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 14:50:20 +0900 Subject: [PATCH 7/7] feat(autoware_launch): add no stop decision parameters in crosswalk (#537) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) 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 35500b462f..9ab064d73b 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 @@ -43,7 +43,13 @@ ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle 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_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 - 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. + + no_stop_decision: + 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_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 crosswalk where there is a traffic signal