From 1e17994a868910a64b41d0fccb569a0df85b1800 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 21 Oct 2024 20:22:29 +0900 Subject: [PATCH 1/8] feat(crosswalk_module): set the velocity of occluded objects to 2.0m/s (#1194) Signed-off-by: Maxime CLEMENT --- .../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 3e99e140c8..5a0757401b 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 @@ -80,7 +80,7 @@ # param for occlusions occlusion: enable: true # if true, ego will slowdown around crosswalks that are occluded - occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space + occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown min_size: 1.0 # [m] minimum size of an occlusion (square side size) From 46c13427e8c6fdcaffd8c38ee42574277e60e21d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 22 Oct 2024 11:18:59 +0900 Subject: [PATCH 2/8] chore(simple_planning_simulator): add stop_filter_param_path (#1195) Signed-off-by: Yuki Takagi --- .../launch/components/tier4_simulator_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 3bef9b5d1e..504337c1a0 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -53,6 +53,7 @@ /> + From de30459db475e3efc1ba4a09b0a066abb29d8e32 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 23 Oct 2024 12:51:47 +0900 Subject: [PATCH 3/8] feat(control_validator): add hold and lpf (#1193) Signed-off-by: Yuki Takagi --- .../control_validator/control_validator.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index 945a37ca58..7485df43a5 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -9,5 +9,9 @@ thresholds: max_distance_deviation: 1.0 - max_reverse_velocity: 0.2 - max_over_velocity_ratio: 0.1 + rolling_back_velocity: 0.5 + over_velocity_offset: 2.0 + over_velocity_ratio: 0.2 + + vel_lpf_gain: 0.9 # Time constant 0.33 + hold_velocity_error_until_stop: true From 146322cedddf373854aecf3b14d8549415897da2 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 24 Oct 2024 10:06:18 +0900 Subject: [PATCH 4/8] feat(autonomous_emergency_braking): change params to cater to urban scenario (#1197) update scenarios Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index f7548536be..710001ec58 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -21,14 +21,14 @@ # Point cloud partitioning detection_range_min_height: 0.0 detection_range_max_height_margin: 0.0 - voxel_grid_x: 0.05 - voxel_grid_y: 0.05 - voxel_grid_z: 100000.0 + voxel_grid_x: 0.1 + voxel_grid_y: 0.1 + voxel_grid_z: 0.5 # Point cloud cropping - expand_width: 0.1 - path_footprint_extra_margin: 4.0 - speed_calculation_expansion_margin: 0.5 + expand_width: -0.2 + path_footprint_extra_margin: 1.0 + speed_calculation_expansion_margin: 0.7 # Point cloud clustering cluster_tolerance: 0.15 #[m] @@ -37,10 +37,10 @@ maximum_cluster_size: 10000 # RSS distance collision check - longitudinal_offset: 2.0 + longitudinal_offset: 1.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - collision_keeping_sec: 2.0 + collision_keeping_sec: 3.0 previous_obstacle_keep_time: 1.0 aeb_hz: 10.0 From 01398f33857ca886f7ed421af92f9c7d15258bc5 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Thu, 24 Oct 2024 10:56:11 +0900 Subject: [PATCH 5/8] feat(processing_time_checker): add five module. (#1192) Signed-off-by: Kasunori-Nakajima --- .../processing_time_checker.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml index 84e7d79079..033b20d234 100644 --- a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml +++ b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml @@ -2,9 +2,11 @@ ros__parameters: update_rate: 10.0 processing_time_topic_name_list: + - /control/control_validator/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms + - /control/vehicle_cmd_gate/debug/processing_time_ms - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms - /planning/planning_validator/debug/processing_time_ms @@ -33,5 +35,8 @@ - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/processing_time_ms - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/processing_time_ms - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms + - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms + - /planning/scenario_planning/scenario_selector/debug/processing_time_ms - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms - /simulation/shape_estimation/debug/processing_time_ms From 8699901b2f0b546ef029034e5174a2d794a46f70 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Thu, 24 Oct 2024 18:01:21 +0900 Subject: [PATCH 6/8] chore(tier4_perception_launch): enable to use argument `centerpoint_model_name` (#1182) * add arguments Signed-off-by: MasatoSaeki * adopt transfusion Signed-off-by: MasatoSaeki * add lidar_detection_model_type Signed-off-by: MasatoSaeki * integrate all in lidar_detection_model Signed-off-by: MasatoSaeki * adopt universe Signed-off-by: MasatoSaeki * fix typo Signed-off-by: MasatoSaeki * change description Signed-off-by: MasatoSaeki * change description Signed-off-by: MasatoSaeki * for pre-commit Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki --- .../launch/components/tier4_perception_component.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 105b49a2d9..9f00aabe4c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -19,12 +19,13 @@ - + + From 6f7cf679be4b6fdd110e37f03f21b2fce534cff6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 25 Oct 2024 20:04:27 +0900 Subject: [PATCH 7/8] fix(start_planner): set ignore_distance_from_lane_end param to 0.0 since it is not needed (#1198) set param to 0.0 since it is not needed Signed-off-by: Daniel Sanchez --- .../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 a71c202b05..a5bc59e519 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 @@ -50,7 +50,7 @@ max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 - ignore_distance_from_lane_end: 15.0 + ignore_distance_from_lane_end: 0.0 # turns signal prepare_time_before_start: 0.0 # freespace planner From 642eb3e5a9dbb128e114135d681c2098abdecd9f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 29 Oct 2024 17:19:35 +0900 Subject: [PATCH 8/8] feat(start/goal_planner): increse max dry steering angle (#1200) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 6 +++--- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 4 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 5eb71126bb..f7db82e17a 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 @@ -73,21 +73,21 @@ # parallel parking path parallel_parking: path_interval: 1.0 - max_steer_angle: 0.35 # 20deg + max_steer_angle: 0.4 #22.9deg forward: enable_arc_forward_parking: true after_forward_parking_straight_distance: 2.0 forward_parking_velocity: 1.38 forward_parking_lane_departure_margin: 0.0 forward_parking_path_interval: 1.0 - forward_parking_max_steer_angle: 0.35 # 20deg + forward_parking_max_steer_angle: 0.4 # 22.9deg backward: enable_arc_backward_parking: true after_backward_parking_straight_distance: 2.0 backward_parking_velocity: -1.38 backward_parking_lane_departure_margin: 0.0 backward_parking_path_interval: 1.0 - backward_parking_max_steer_angle: 0.35 # 20deg + backward_parking_max_steer_angle: 0.4 # 22.9deg # freespace parking freespace_parking: 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 a5bc59e519..9ad5510ab2 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 @@ -43,7 +43,7 @@ lane_departure_margin: 0.2 lane_departure_check_expansion_margin: 0.0 backward_velocity: -1.0 - pull_out_max_steer_angle: 0.26 # 15deg + pull_out_max_steer_angle: 0.4 # 22.9deg # search start pose backward enable_back: true search_priority: "efficient_path" # "efficient_path" or "short_back_distance"