From acb5d6a2633257f9eec607211b4dc3e3ea312c87 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 24 Jan 2023 20:45:24 +0900 Subject: [PATCH 01/30] feat(autoware_launch): visualize modified_goal as PoseWithUuidStamped (#182) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- autoware_launch/rviz/autoware.rviz | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 485f6ddb17..fbfe61ad3c 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1704,18 +1704,11 @@ Visualization Manager: Value: true Enabled: true Name: Parking - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.30000001192092896 - Class: rviz_default_plugins/Pose - Color: 255; 25; 0 + - Class: rviz_plugins/PoseWithUuidStamped Enabled: true - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 + Length: 1.5 Name: ModifiedGoal - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Axes + Radius: 0.5 Topic: Depth: 5 Durability Policy: Volatile @@ -1723,6 +1716,9 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false Value: true Enabled: true Name: ScenarioPlanning From 7ed2e168f1f2cde384a2353b11e019a4af8b9ebf Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 24 Jan 2023 23:06:06 +0900 Subject: [PATCH 02/30] feat(intersection): improve ego velocity prediction in collision detection (#181) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 9 ++++----- 1 file changed, 4 insertions(+), 5 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 220c087d18..a769848497 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 @@ -1,10 +1,8 @@ /**: ros__parameters: intersection: - state_transit_margin_time: 0.5 + state_transit_margin_time: 1.0 stop_line_margin: 3.0 - keep_detection_line_margin: 1.0 # distance (toward path end) from generated stop line. keep detection if ego is before this line and ego.vel < keep_detection_vel_thr - keep_detection_vel_thr: 0.833 # == 3.0km/h stuck_vehicle_detect_dist: 3.0 # 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_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h @@ -16,8 +14,9 @@ detection_area_length: 200.0 # [m] detection_area_angle_threshold: 0.785 # [rad] min_predicted_path_confidence: 0.05 - collision_start_margin_time: 5.0 # [s] - collision_end_margin_time: 2.0 # [s] + minimum_ego_predicted_velocity: 1.388 # [m/s] + collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning enable_front_car_decel_prediction: false # By default this feature is disabled From e99d717a156f33e2d854fb1de12e4f96af97aaac Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 24 Jan 2023 23:57:59 +0900 Subject: [PATCH 03/30] feat(control_launch): add min_braking_distance to lane_departure_checker (#184) Signed-off-by: kosuke55 --- .../lane_departure_checker/lane_departure_checker.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 092a6765aa..9512ed388d 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 @@ -13,3 +13,4 @@ max_longitudinal_deviation: 2.0 max_yaw_deviation_deg: 60.0 delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point + min_braking_distance: 0.0 From bf46edf99e4bbeb3616df84407c38754143396a6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 26 Jan 2023 18:06:10 +0900 Subject: [PATCH 04/30] fix(autoware_launch): enable launch_deprecated_api (#187) * fix(autoware_launch): enable launch_deprecated_api Signed-off-by: Takayuki Murooka * Update autoware_launch/launch/components/tier4_autoware_api_component.launch.xml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Signed-off-by: Takayuki Murooka Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index bdc6a9229b..1c7b520108 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,5 +1,7 @@ + + From 06f6157d6bd56959e401a8f8c5716e50bc1c2307 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 26 Jan 2023 18:22:22 +0900 Subject: [PATCH 05/30] fix(behavior_path_planner): prevent pull out back twice (#176) Signed-off-by: kosuke55 Signed-off-by: kosuke55 From c1792926b3afc230c8432c6b045983fe8a39cc35 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 27 Jan 2023 14:05:01 +0900 Subject: [PATCH 06/30] feat(intersection): add param for stuck stopline overshoot margin (#188) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 a769848497..9ed153bb1c 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 @@ -20,6 +20,7 @@ use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning enable_front_car_decel_prediction: false # By default this feature is disabled + stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection merge_from_private_road: stop_duration_sec: 1.0 From 5fa613b9d80bf4f0db77efde03a43f7ede6bac86 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 27 Jan 2023 21:10:17 +0900 Subject: [PATCH 07/30] feat(mpc_lateral_controller): add steering bias removal (#190) * feat(mpc_lateral_controller): add steering bias removal Signed-off-by: Takamasa Horibe * change name Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe --- .../control/trajectory_follower/lateral/mpc.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index f3819f155e..359721c7f5 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -64,6 +64,14 @@ new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + # steer offset + steering_offset: + enable_auto_steering_offset_removal: true + update_vel_threshold: 5.56 + update_steer_threshold: 0.035 + average_num: 1000 + steering_offset_limit: 0.02 + # vehicle parameters vehicle: cg_to_front_m: 1.228 From cc47677ac0cdca7050ad4709dc183bd3f5a9ee03 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 1 Feb 2023 16:53:21 +0900 Subject: [PATCH 08/30] fix(occlusion_spot): occlusion spot parameter disable as default (#741) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_velocity_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_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7aab0af21f..ff51b6e37a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -7,7 +7,7 @@ launch_blind_spot: true launch_detection_area: true launch_virtual_traffic_light: true - launch_occlusion_spot: true + launch_occlusion_spot: false launch_no_stopping_area: true launch_run_out: false launch_speed_bump: false From 2e8ddda837abb1bd3e5403c3da5ba9f1e7c04f9e Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Thu, 2 Feb 2023 16:33:54 +0900 Subject: [PATCH 09/30] chore: sync awf/autoware_launch (#737) * feat(autoware_launch): visualize modified_goal as PoseWithUuidStamped (#182) Signed-off-by: kosuke55 Signed-off-by: kosuke55 * feat(intersection): improve ego velocity prediction in collision detection (#181) Signed-off-by: Mamoru Sobue * feat(control_launch): add min_braking_distance to lane_departure_checker (#184) Signed-off-by: kosuke55 * fix(autoware_launch): enable launch_deprecated_api (#187) * fix(autoware_launch): enable launch_deprecated_api Signed-off-by: Takayuki Murooka * Update autoware_launch/launch/components/tier4_autoware_api_component.launch.xml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Signed-off-by: Takayuki Murooka Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix(behavior_path_planner): prevent pull out back twice (#176) Signed-off-by: kosuke55 Signed-off-by: kosuke55 * feat(intersection): add param for stuck stopline overshoot margin (#188) Signed-off-by: Mamoru Sobue * feat(mpc_lateral_controller): add steering bias removal (#190) * feat(mpc_lateral_controller): add steering bias removal Signed-off-by: Takamasa Horibe * change name Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe * feat: remove unused args Signed-off-by: Takagi, Isamu --------- Signed-off-by: kosuke55 Signed-off-by: Mamoru Sobue Signed-off-by: Takayuki Murooka Signed-off-by: Takamasa Horibe Signed-off-by: tomoya.kimura Signed-off-by: Takagi, Isamu Co-authored-by: Kosuke Takeuchi Co-authored-by: Mamoru Sobue Co-authored-by: Takayuki Murooka Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: tomoya.kimura Co-authored-by: Takagi, Isamu --- .../launch/components/tier4_autoware_api_component.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index ccc1527fb0..4fdacc2656 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,5 +1,6 @@ + - + From c365526c7b1465757756a81e17d43259659944c5 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 2 Feb 2023 19:16:46 +0900 Subject: [PATCH 10/30] ci(pre-commit-config): upgrade isort version (#193) Signed-off-by: Tomohito Ando --- .pre-commit-config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b0ebde39f7..c05db6b870 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -55,7 +55,7 @@ repos: args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 5.10.1 + rev: 5.12.0 hooks: - id: isort From 7108dbb13baec1c5da058f9e8894aaf68a9f282b Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 2 Feb 2023 19:18:26 +0900 Subject: [PATCH 11/30] ci(pre-commit): autoupdate (#127) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit updates: - [github.com/igorshubovych/markdownlint-cli: v0.32.2 → v0.33.0](https://github.com/igorshubovych/markdownlint-cli/compare/v0.32.2...v0.33.0) - [github.com/adrienverge/yamllint: v1.28.0 → v1.29.0](https://github.com/adrienverge/yamllint/compare/v1.28.0...v1.29.0) - [github.com/tier4/pre-commit-hooks-ros: v0.7.1 → v0.8.0](https://github.com/tier4/pre-commit-hooks-ros/compare/v0.7.1...v0.8.0) - [github.com/shellcheck-py/shellcheck-py: v0.8.0.4 → v0.9.0.2](https://github.com/shellcheck-py/shellcheck-py/compare/v0.8.0.4...v0.9.0.2) - [github.com/scop/pre-commit-shfmt: v3.5.1-1 → v3.6.0-1](https://github.com/scop/pre-commit-shfmt/compare/v3.5.1-1...v3.6.0-1) - [github.com/pycqa/isort: 5.10.1 → 5.12.0](https://github.com/pycqa/isort/compare/5.10.1...5.12.0) - [github.com/psf/black: 22.10.0 → 22.12.0](https://github.com/psf/black/compare/22.10.0...22.12.0) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .pre-commit-config.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c05db6b870..c576567788 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -18,7 +18,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.32.2 + rev: v0.33.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -29,12 +29,12 @@ repos: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.28.0 + rev: v1.29.0 hooks: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.7.1 + rev: v0.8.0 hooks: - id: flake8-ros - id: prettier-xacro @@ -44,12 +44,12 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.8.0.4 + rev: v0.9.0.2 hooks: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.5.1-1 + rev: v3.6.0-1 hooks: - id: shfmt args: [-w, -s, -i=4] @@ -60,7 +60,7 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 22.10.0 + rev: 22.12.0 hooks: - id: black args: [--line-length=100] From 8ece01afded03ebcd0cbd15f4a4f60080ba56727 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 2 Feb 2023 19:19:58 +0900 Subject: [PATCH 12/30] fix(occlusion_spot): occlusion spot parameter disable as default (#191) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_velocity_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_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7aab0af21f..ff51b6e37a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -7,7 +7,7 @@ launch_blind_spot: true launch_detection_area: true launch_virtual_traffic_light: true - launch_occlusion_spot: true + launch_occlusion_spot: false launch_no_stopping_area: true launch_run_out: false launch_speed_bump: false From c721d59be854cdae9b81b14cbb914dc07dc7f5ff Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 3 Feb 2023 16:28:10 +0900 Subject: [PATCH 13/30] fix(autoware_launch): minor change with tier4_planning_component (#185) * fix(autoware_launch): minor change with tier4_planning_component Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- autoware_launch/launch/autoware.launch.xml | 14 +------------ .../tier4_planning_component.launch.xml | 20 +++++++++---------- 2 files changed, 11 insertions(+), 23 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index c11f751389..f41224cb87 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -113,19 +113,7 @@ - - - - - - - - - - + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index fb8b94083f..be60d018e8 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -1,18 +1,15 @@ - - - + - + - - - - + + + - + @@ -47,7 +44,10 @@ name="drivable_area_expansion_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml" /> - + Date: Fri, 3 Feb 2023 16:28:19 +0900 Subject: [PATCH 14/30] fix(autoware_launch): minor change with tier4_control_component (#186) Signed-off-by: Takayuki Murooka --- autoware_launch/launch/autoware.launch.xml | 11 +---------- .../tier4_control_component.launch.xml | 16 ++++++---------- autoware_launch/launch/e2e_simulator.launch.xml | 3 --- .../launch/logging_simulator.launch.xml | 4 ---- .../launch/planning_simulator.launch.xml | 4 ---- 5 files changed, 7 insertions(+), 31 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f41224cb87..77dbf2eb3f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -26,8 +26,6 @@ - - @@ -118,14 +116,7 @@ - - - - - - - - + diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 264deb0ffc..bae5865104 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -1,22 +1,18 @@ - - - - - - + + + + - - - + - + - @@ -49,8 +48,6 @@ - - diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 3d7745d5f7..8349476f64 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -24,8 +24,6 @@ - - @@ -62,8 +60,6 @@ - - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 083010298e..388b0952b2 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -9,8 +9,6 @@ - - @@ -49,8 +47,6 @@ - - From f4cc32e72930ddfc6ca7658c92c73cb11648b288 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 3 Feb 2023 17:49:41 +0900 Subject: [PATCH 15/30] fix(lane_change): update default parameter (#183) --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 +- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 7a6bd05976..3e70681dbd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -31,4 +31,4 @@ expected_rear_deceleration_for_abort: -2.0 rear_vehicle_reaction_time: 2.0 - rear_vehicle_safety_time_margin: 2.0 + rear_vehicle_safety_time_margin: 1.0 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 41de868418..48eee8cbab 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 @@ -18,9 +18,9 @@ lane_change_sampling_num: 10 # collision check - enable_collision_check_at_prepare_phase: true + enable_collision_check_at_prepare_phase: false prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s] - use_predicted_path_outside_lanelet: true + use_predicted_path_outside_lanelet: false use_all_predicted_path: false # abort From 10448dff67a00f32e58bd40dd33d8b4d6f307dc0 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 3 Feb 2023 21:11:37 +0900 Subject: [PATCH 16/30] feat(autoware_launch): add NDT parameters for dynamic_map_loading (#151) * feat(autoware_launch): add NDT parameters for dynamic_map_loading * set default param to false Signed-off-by: kminoda * set default use_dynamic_map_loading to true Signed-off-by: kminoda * fix parameter description Signed-off-by: kminoda --------- Signed-off-by: kminoda --- .../config/localization/ndt_scan_matcher.param.yaml | 11 +++++++++++ .../config/map/pointcloud_map_loader.param.yaml | 4 ++-- 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 0eb88ce2fc..f554402cee 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + # Use dynamic map loading + use_dynamic_map_loading: true # Vehicle reference frame base_frame: "base_link" @@ -66,6 +68,15 @@ # regularization scale factor regularization_scale_factor: 0.01 + # Dynamic map loading distance + dynamic_map_loading_update_distance: 20.0 + + # Dynamic map loading loading radius + dynamic_map_loading_map_radius: 150.0 + + # Radius of input LiDAR range (used for diagnostics of dynamic map loading) + lidar_radius: 100.0 + # A flag for using scan matching score based on de-grounded LiDAR scan estimate_scores_for_degrounded_scan: false diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml index 8f3ccbff00..61b02c490c 100644 --- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml +++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml @@ -2,8 +2,8 @@ ros__parameters: enable_whole_load: true enable_downsampled_whole_load: false - enable_partial_load: false - enable_differential_load: false + enable_partial_load: true + enable_differential_load: true # only used when downsample_whole_load enabled leaf_size: 3.0 # downsample leaf size [m] From 0aa01a50447c7f050321fd59fd00175ba6030caa Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 6 Feb 2023 10:53:13 +0900 Subject: [PATCH 17/30] chore(autoware_launch): manual sync with awf/autoware_launch (#751) * manual sync with awf/autoware_launch Signed-off-by: kminoda * ci(pre-commit): autofix * add map launch Signed-off-by: kminoda --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/localization/ndt_scan_matcher.param.yaml | 11 +++++++++++ .../config/map/pointcloud_map_loader.param.yaml | 4 ++-- 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index e38f75a3f8..5070aa2868 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + # Use dynamic map loading + use_dynamic_map_loading: true # Vehicle reference frame base_frame: "base_link" @@ -64,3 +66,12 @@ # Regularization scale factor regularization_scale_factor: 0.01 + + # Radius of input LiDAR range (used for diagnostics of dynamic map loading) + lidar_radius: 100.0 + + # A flag for using scan matching score based on de-grounded LiDAR scan + estimate_scores_for_degrounded_scan: false + + # If lidar_point.z - base_link.z <= this threshold , the point will be removed + z_margin_for_ground_removal: 0.8 diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml index 8f3ccbff00..61b02c490c 100644 --- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml +++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml @@ -2,8 +2,8 @@ ros__parameters: enable_whole_load: true enable_downsampled_whole_load: false - enable_partial_load: false - enable_differential_load: false + enable_partial_load: true + enable_differential_load: true # only used when downsample_whole_load enabled leaf_size: 3.0 # downsample leaf size [m] From d651a831cdb98e5789207af5b7951bbb1813053f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 6 Feb 2023 11:21:12 +0900 Subject: [PATCH 18/30] chore(autoware_launch): change lane_change_sampling_num from 10 to 3 (#742) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/lane_change/lane_change.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/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 c25eb73d62..af8009a416 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 @@ -14,7 +14,7 @@ minimum_lane_change_velocity: 2.78 # [m/s] prediction_time_resolution: 0.5 # [s] maximum_deceleration: 1.0 # [m/s2] - lane_change_sampling_num: 10 + lane_change_sampling_num: 3 # collision check enable_collision_check_at_prepare_phase: false From 8c6ae27ed7eed0cfceb542d38de21071b2c3cc60 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 6 Feb 2023 11:45:55 +0900 Subject: [PATCH 19/30] chore(autoware_launch): minor parameter change for control (#749) Signed-off-by: Takayuki Murooka --- .../trajectory_follower/lateral/mpc.param.yaml | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 2324976f49..400bc926a1 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -70,15 +70,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 From a6ef5b2b812b07d898aac1976c227b0886768e5f Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 6 Feb 2023 14:43:58 +0900 Subject: [PATCH 20/30] feat(planning_config): update params to enable 60kmph speed (#744) Signed-off-by: Takamasa Horibe --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- .../motion_velocity_smoother.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) 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 a23570a5fc..6bb130e805 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -2,9 +2,9 @@ ros__parameters: # constraints param for normal driving normal: - min_acc: -0.5 # min deceleration [m/ss] + min_acc: -1.0 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -0.5 # min jerk [m/sss] + min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] # constraints to be observed diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 9534a87fc5..e600334ee2 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -32,7 +32,7 @@ # resampling parameters for optimization max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 150.0 # min trajectory length for resampling [m] + min_trajectory_length: 180.0 # min trajectory length for resampling [m] resample_time: 2.0 # resample total time for dense sampling [s] dense_resample_dt: 0.2 # resample time interval for dense sampling [s] dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] From 51d57133dee68ecb2085fd022a0a631129bc17af Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 6 Feb 2023 14:44:03 +0900 Subject: [PATCH 21/30] feat(planning_config): update params to enable 60kmph speed (#194) Signed-off-by: Takamasa Horibe --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- .../motion_velocity_smoother.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) 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 a23570a5fc..6bb130e805 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -2,9 +2,9 @@ ros__parameters: # constraints param for normal driving normal: - min_acc: -0.5 # min deceleration [m/ss] + min_acc: -1.0 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -0.5 # min jerk [m/sss] + min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] # constraints to be observed diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 9534a87fc5..e600334ee2 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -32,7 +32,7 @@ # resampling parameters for optimization max_trajectory_length: 200.0 # max trajectory length for resampling [m] - min_trajectory_length: 150.0 # min trajectory length for resampling [m] + min_trajectory_length: 180.0 # min trajectory length for resampling [m] resample_time: 2.0 # resample total time for dense sampling [s] dense_resample_dt: 0.2 # resample time interval for dense sampling [s] dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] From 43b729c5b0b18c7b39302e57594bd0d2238ece68 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 6 Feb 2023 18:49:43 +0900 Subject: [PATCH 22/30] feat: add behavior tree file with external lane change request (#756) Signed-off-by: tomoya.kimura --- ..._planner_tree_with_external_request_LC.xml | 74 +++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml new file mode 100644 index 0000000000..e848f156a4 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + desc + + + + + desc + + + + desc + + + + desc + + + + desc + + + + + + + + desc + + + + desc + + + + + From 513d0388913cb7627445d31a95eff6f13e797490 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 6 Feb 2023 22:56:47 +0900 Subject: [PATCH 23/30] fix(multi_object_tracker): update data association matrix (#755) * fix(multi_object_tracker): update data association matrix Signed-off-by: Muhammad Zulfaqar Azmi * updated parameter Signed-off-by: Muhammad Zulfaqar Azmi * Update autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml also update for CAR->other objects Co-authored-by: Yukihiro Saito --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Yukihiro Saito --- .../data_association_matrix.param.yaml | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 2541ab0367..69af202e7a 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -14,10 +14,10 @@ max_dist_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN @@ -55,12 +55,12 @@ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN min_iou_matrix: # If value is negative, it will be ignored. - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN - 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER + 0.1, 0.1, 0.1, 0.1, 0.1, -1.0, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN From d34dbdeacb8a78457ca58feb439df63b41d47ab1 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 6 Feb 2023 22:57:15 +0900 Subject: [PATCH 24/30] fix(multi_object_tracker): update data association matrix (#196) * fix(multi_object_tracker): update data association matrix Signed-off-by: Muhammad Zulfaqar Azmi * Update autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml also update for other CAR->(other objects) Co-authored-by: Yukihiro Saito --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Yukihiro Saito --- .../data_association_matrix.param.yaml | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 2541ab0367..69af202e7a 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -14,10 +14,10 @@ max_dist_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS + 4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN @@ -55,12 +55,12 @@ 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN min_iou_matrix: # If value is negative, it will be ignored. - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN - 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS - 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE - 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER + 0.1, 0.1, 0.1, 0.1, 0.1, -1.0, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN From 4b3ff2257b96d816da9c826de1f85428dc096f65 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 7 Feb 2023 01:13:02 +0900 Subject: [PATCH 25/30] fix(autoware_launch): change behavior_velocity parameters (#716) Signed-off-by: Takayuki Murooka --- .../occlusion_spot.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml index 957f7988a6..0b93ea5308 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml @@ -4,7 +4,7 @@ detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object" pass_judge: "smooth_velocity" # [-] candidate is "smooth_velocity" or "current_velocity" use_object_info: true # [-] whether to reflect object info to occupancy grid map or not - use_moving_object_ray_cast: true # [-] whether to reflect moving object ray_cast to occupancy grid map or not + use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map use_partition_lanelet: true # [-] whether to use partition lanelet map data pedestrian_vel: 1.5 # [m/s] assume pedestrian is dashing from occlusion at this velocity pedestrian_radius: 0.3 # [m] assume pedestrian width(0.2m) + margin(0.1m) @@ -18,8 +18,8 @@ lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision motion: safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety - max_slow_down_jerk: -0.5 # [m/s^3] minimum jerk deceleration for safe brake. - max_slow_down_accel: -1.8 # [m/s^2] minimum accel deceleration for safe brake. + max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake. + max_slow_down_accel: -1.5 # [m/s^2] minimum accel deceleration for safe brake. non_effective_jerk: -0.3 # [m/s^3] weak jerk for velocity planning. non_effective_acceleration: -1.0 # [m/s^2] weak deceleration for velocity planning. min_allowed_velocity: 1.0 # [m/s] minimum velocity allowed @@ -28,7 +28,7 @@ min_occlusion_spot_size: 1.0 # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle. slice_length: 10.0 # [m] size of slices in both length and distance relative to the ego path. min_longitudinal_offset: 1.0 # [m] detection area safety buffer from front bumper. - max_lateral_distance: 6.0 # [m] buffer around the ego path used to build the detection area. + max_lateral_distance: 5.0 # [m] buffer around the ego path used to build the detection area. grid: free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid - occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid + occupied_min: 57 # [-] minimum value of an occupied cell in the occupancy grid From ab005ac2a6d9028c6f5b1d18b0cbeb62f16dcf71 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 7 Feb 2023 01:13:05 +0900 Subject: [PATCH 26/30] fix(autoware_launch): change behavior_velocity parameters (#179) Signed-off-by: Takayuki Murooka --- .../occlusion_spot.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml index 957f7988a6..0b93ea5308 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml @@ -4,7 +4,7 @@ detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object" pass_judge: "smooth_velocity" # [-] candidate is "smooth_velocity" or "current_velocity" use_object_info: true # [-] whether to reflect object info to occupancy grid map or not - use_moving_object_ray_cast: true # [-] whether to reflect moving object ray_cast to occupancy grid map or not + use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map use_partition_lanelet: true # [-] whether to use partition lanelet map data pedestrian_vel: 1.5 # [m/s] assume pedestrian is dashing from occlusion at this velocity pedestrian_radius: 0.3 # [m] assume pedestrian width(0.2m) + margin(0.1m) @@ -18,8 +18,8 @@ lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision motion: safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety - max_slow_down_jerk: -0.5 # [m/s^3] minimum jerk deceleration for safe brake. - max_slow_down_accel: -1.8 # [m/s^2] minimum accel deceleration for safe brake. + max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake. + max_slow_down_accel: -1.5 # [m/s^2] minimum accel deceleration for safe brake. non_effective_jerk: -0.3 # [m/s^3] weak jerk for velocity planning. non_effective_acceleration: -1.0 # [m/s^2] weak deceleration for velocity planning. min_allowed_velocity: 1.0 # [m/s] minimum velocity allowed @@ -28,7 +28,7 @@ min_occlusion_spot_size: 1.0 # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle. slice_length: 10.0 # [m] size of slices in both length and distance relative to the ego path. min_longitudinal_offset: 1.0 # [m] detection area safety buffer from front bumper. - max_lateral_distance: 6.0 # [m] buffer around the ego path used to build the detection area. + max_lateral_distance: 5.0 # [m] buffer around the ego path used to build the detection area. grid: free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid - occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid + occupied_min: 57 # [-] minimum value of an occupied cell in the occupancy grid From 8c8581aa13dae5bd3eda547e895d44e5d2588fe2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 7 Feb 2023 01:13:48 +0900 Subject: [PATCH 27/30] chore(autoware_launch): minor fix with trajectory_follower param (#167) Signed-off-by: Takayuki Murooka --- .../trajectory_follower/lateral/mpc.param.yaml | 1 - .../trajectory_follower/longitudinal/pid.param.yaml | 12 ------------ 2 files changed, 13 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 359721c7f5..2324976f49 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - # -- system -- traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) 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 b6e1c3a38c..eb2ef443c4 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -72,15 +72,3 @@ lpf_pitch_gain: 0.95 max_pitch_rad: 0.1 min_pitch_rad: -0.1 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 From c6a3df8be00302a72f6fd2c447db7faf0d80475f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 7 Feb 2023 14:50:59 +0900 Subject: [PATCH 28/30] chore(autoware_launch): minor parameter change for planning and control (#195) Signed-off-by: Takayuki Murooka --- .../trajectory_follower/lateral/mpc.param.yaml | 12 ------------ .../trajectory_follower/longitudinal/pid.param.yaml | 10 +++++----- .../avoidance/avoidance.param.yaml | 2 ++ 3 files changed, 7 insertions(+), 17 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 2324976f49..400bc926a1 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -70,15 +70,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 eb2ef443c4..bc3213081d 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -5,19 +5,19 @@ enable_smooth_stop: true enable_overshoot_emergency: true enable_large_tracking_error_emergency: true - enable_slope_compensation: false + enable_slope_compensation: true enable_keep_stopped_until_steer_convergence: true # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.49 + stopping_state_stop_dist: 0.5 stopped_state_entry_duration_time: 0.1 - stopped_state_entry_vel: 0.1 + stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7 + emergency_state_traj_rot_dev: 0.7854 # drive state kp: 1.0 @@ -38,7 +38,7 @@ # smooth stop state smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -1.0 + smooth_stop_min_strong_acc: -0.8 smooth_stop_weak_acc: -0.3 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 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 e42f188a62..40de19bd6c 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 @@ -6,6 +6,8 @@ resample_interval_for_output: 4.0 # [m] detection_area_right_expand_dist: 0.0 # [m] detection_area_left_expand_dist: 1.0 # [m] + drivable_area_right_bound_offset: 0.0 # [m] + drivable_area_left_bound_offset: 0.0 # [m] object_envelope_buffer: 0.3 # [m] # avoidance module common setting From 04d0ad5a17b790cdfd4e6f2cd87b5778be633e25 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 9 Feb 2023 10:19:21 +0900 Subject: [PATCH 29/30] feat(autoware_launch): add option to disable path update during avoidance (#763) Signed-off-by: Takayuki Murooka --- .../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 40de19bd6c..77e14f70f8 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 @@ -17,6 +17,7 @@ enable_update_path_when_object_is_gone: false enable_safety_check: false enable_yield_maneuver: false + disable_path_update: false # for debug publish_debug_marker: false From cc9fdbb19bec52cd9bd6dd8a0336f1304ab7139d Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 13 Feb 2023 14:56:59 +0900 Subject: [PATCH 30/30] fix(behavior_velocity_planner): continue collision checking after pass judge (#769) fix(behavior_velocity_planner): revert part of #2719 Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 9ed153bb1c..c46861d32a 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 @@ -3,6 +3,7 @@ intersection: state_transit_margin_time: 1.0 stop_line_margin: 3.0 + keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr stuck_vehicle_detect_dist: 3.0 # 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_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h