From 22f04701ad8ad757c954f19c6128a7de6ad78761 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 26 Dec 2023 09:23:57 +0900 Subject: [PATCH 01/22] refactor(behavior_path_planner): rename parameter "extra_arc_length" to "arc_length_range" (#755) Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.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/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 0558f6c606..f3393ff5a4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -13,7 +13,7 @@ smoothing: curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length - extra_arc_length: 2.0 # [m] extra arc length where an expansion distance is initially applied + arc_length_range: 2.0 # [m] arc length range where an expansion distance is initially applied ego: extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase extra_front_overhang: 0.5 # [m] extra length to add to the front overhang From 2447f7cf71632ceedd2b51cb889dbe83bc9969ac Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 26 Dec 2023 11:09:12 +0900 Subject: [PATCH 02/22] fix(avoidance): apply params used in xx1 vehicle (#751) * fix(avoidance): use xx1 params Signed-off-by: satoshi-ota * fix(avoidance): expand safety check polygon lateral margin Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 64 +++++++++---------- 1 file changed, 32 insertions(+), 32 deletions(-) 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 7117d1d6da..0618185dcf 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 @@ -29,41 +29,41 @@ car: execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + moving_time_threshold: 2.0 # [s] max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.7 # [m] + envelope_buffer_margin: 0.5 # [m] + avoid_margin_lateral: 0.7 # [m] + safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_speed_threshold: 2.0 # 7.2km/h + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_speed_threshold: 2.0 # 7.2km/h + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + moving_speed_threshold: 2.0 # 7.2km/h + moving_time_threshold: 2.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.9 + safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: @@ -71,9 +71,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + envelope_buffer_margin: 0.1 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: -0.2 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: @@ -81,9 +81,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: @@ -91,9 +91,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.3 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: @@ -101,9 +101,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 1.0 + envelope_buffer_margin: 0.5 + avoid_margin_lateral: 0.7 + safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] @@ -189,7 +189,7 @@ expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s] rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 0.75 # [m] + lateral_distance_max_threshold: 2.0 # [m] longitudinal_distance_min_threshold: 3.0 # [m] longitudinal_velocity_delta_time: 0.8 # [s] From 805756256ce392c1a7ef300251acae85a7f4d76a Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 26 Dec 2023 19:55:45 +0900 Subject: [PATCH 03/22] feat(obstacle_stop_planner): change stop distance after goal (#758) * feat(obstacle_stop/cruise): change stop distance after goal Signed-off-by: kosuke55 * Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml --------- Signed-off-by: kosuke55 --- .../obstacle_stop_planner/obstacle_stop_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_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index c804cea577..8e215a1bcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -17,7 +17,7 @@ # params for stop position stop_position: max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] - max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m] + max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m] min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] From 6bc483a736edd11bebbd264dd7806511364ad015 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Dec 2023 11:30:04 +0900 Subject: [PATCH 04/22] feat(map_based_prediction): map prediction with acc constraints (#759) * Add params for acceleration constraints for map_based_prediction Signed-off-by: Daniel Sanchez * add new param Signed-off-by: Daniel Sanchez * tune params Signed-off-by: Daniel Sanchez * add parameter to switch on and off constraints check Signed-off-by: Daniel Sanchez * improve comment Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 69ff96a263..fe4d2a51ec 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -13,6 +13,9 @@ sigma_yaw_angle_deg: 5.0 #[angle degree] object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] + check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints + max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths + min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 From e17229cf352274ee17c7dadb9320fdcfedf2d6ac Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 27 Dec 2023 11:58:37 +0900 Subject: [PATCH 05/22] feat: make crosswalk decision more aggressive towards the real world's driving (#762) 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 e7bdda45de..240963309e 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 @@ -53,8 +53,8 @@ stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 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 # for the crosswalks with traffic signal - disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal + disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal + disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed. distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s] From 5020749764b688eb3f4323331360407b97ce0820 Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Fri, 29 Dec 2023 13:39:50 +0900 Subject: [PATCH 06/22] feat(autoware_launch): update traffic light recognition models (#752) * fix: update model names Signed-off-by: tzhong518 * fix: argument name Signed-off-by: tzhong518 * Update autoware_launch/launch/components/tier4_perception_component.launch.xml * fix: model name Signed-off-by: tzhong518 * fix: add model path Signed-off-by: tzhong518 * Update autoware_launch/launch/components/tier4_perception_component.launch.xml --------- Signed-off-by: tzhong518 Co-authored-by: Yusuke Muramatsu Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- .../launch/components/tier4_perception_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 49156fba51..3a968f0f27 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -127,8 +127,9 @@ - + - + + From 01fb0f25035380e25e757e51de27cd666d74024c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 5 Jan 2024 16:38:49 +0900 Subject: [PATCH 07/22] feat: add parameters to avoid sudden steering in dynamic avoidance (#756) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 29fdca78e5..371f7da2fa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -59,6 +59,10 @@ max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] + max_ego_lat_acc: 0.3 # [m/ss] + max_ego_lat_jerk: 0.3 # [m/sss] + delay_time_ego_shift: 1.0 # [s] + # for same directional object overtaking_object: max_time_to_collision: 40.0 # [s] From fb88b82382af2c70103aba4b606b5c9d096ededd Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 9 Jan 2024 12:55:29 +0900 Subject: [PATCH 08/22] refactor(ndt_scan_matcher, map_loader): remove unused parameters (#769) Removed unused parameters Signed-off-by: Shintaro Sakoda --- .../config/localization/ndt_scan_matcher.param.yaml | 3 --- autoware_launch/config/map/pointcloud_map_loader.param.yaml | 1 - 2 files changed, 4 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 1a6c26cd9c..9bc62d3f91 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,8 +1,5 @@ /**: ros__parameters: - # Use dynamic map loading - use_dynamic_map_loading: true - # Vehicle reference frame base_frame: "base_link" diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml index ba4c032d3e..b4efbec970 100644 --- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml +++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml @@ -3,7 +3,6 @@ enable_whole_load: true enable_downsampled_whole_load: false enable_partial_load: true - enable_differential_load: true enable_selected_load: false # only used when downsample_whole_load enabled From b9cf24d2da1fff71ec2bfd0fde3bb0c8e17ca586 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 9 Jan 2024 13:11:39 +0900 Subject: [PATCH 09/22] feat: add behavior_output_path_interval in behavior_velocity_planner (#773) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 aa51c38b55..b31506918a 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 @@ -2,6 +2,7 @@ ros__parameters: forward_path_length: 1000.0 backward_path_length: 5.0 + behavior_output_path_interval: 1.0 stop_line_extend_length: 5.0 max_accel: -2.8 max_jerk: -5.0 From fc6d07ff327fd3c9757d8bf3232b924d2656da02 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 9 Jan 2024 13:11:52 +0900 Subject: [PATCH 10/22] feat: tune dynamic avoidance parameters with the real vehicle (#775) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 371f7da2fa..0a563498be 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -38,7 +38,7 @@ crossing_object: min_overtaking_object_vel: 1.0 max_overtaking_object_angle: 1.05 - min_oncoming_object_vel: 0.0 + min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 front_object: @@ -54,7 +54,7 @@ object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 0.8 # [m] + lat_offset_from_obstacle: 1.0 # [m] max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] @@ -66,12 +66,12 @@ # for same directional object overtaking_object: max_time_to_collision: 40.0 # [s] - start_duration_to_avoid: 2.0 # [s] - end_duration_to_avoid: 4.0 # [s] + start_duration_to_avoid: 1.0 # [s] + end_duration_to_avoid: 1.0 # [s] duration_to_hold_avoidance: 3.0 # [s] # for opposite directional object oncoming_object: max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles - start_duration_to_avoid: 12.0 # [s] + start_duration_to_avoid: 1.0 # [s] end_duration_to_avoid: 0.0 # [s] From 24fd44b3a08bd93fcf0afff29218a13afcd13c80 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 9 Jan 2024 18:00:31 +0900 Subject: [PATCH 11/22] fix(lane_change): set lane change parameters to real vehicle environment (#761) Signed-off-by: Fumiya Watanabe --- .../lane_change/lane_change.param.yaml | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) 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 366c093901..57899fada8 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 @@ -57,14 +57,14 @@ # lane expansion for object filtering lane_expansion: - left_offset: 0.0 # [m] - right_offset: 0.0 # [m] + left_offset: 1.0 # [m] + right_offset: 1.0 # [m] # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0] - min_values: [0.15, 0.15, 0.15] - max_values: [0.5, 0.5, 0.5] + min_values: [0.4, 0.4, 0.4] + max_values: [0.65, 0.65, 0.65] # target object target_object: @@ -72,7 +72,7 @@ truck: true bus: true trailer: true - unknown: true + unknown: false bicycle: true motorcycle: true pedestrian: true @@ -80,14 +80,14 @@ # collision check enable_prepare_segment_collision_check: false prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] - check_objects_on_current_lanes: true - check_objects_on_other_lanes: true + check_objects_on_current_lanes: false + check_objects_on_other_lanes: false use_all_predicted_path: true # lane change regulations regulation: - crosswalk: false - intersection: false + crosswalk: true + intersection: true traffic_light: true # ego vehicle stuck detection @@ -107,4 +107,4 @@ finish_judge_lateral_threshold: 0.2 # [m] # debug - publish_debug_marker: false + publish_debug_marker: true From beec828574dc6131f9cb7c0b9ff2a4558cf86b5e Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 10 Jan 2024 10:40:08 +0900 Subject: [PATCH 12/22] fix(pointpainting): update parameter structure (#778) * fix(pointpainting): update parameter structure Signed-off-by: kminoda * update roi_sync.param.yaml Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../roi_sync.param.yaml | 2 + .../lidar_model/pointpainting.param.yaml | 40 +++++++++++-------- 2 files changed, 26 insertions(+), 16 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml index 0e4c52ba92..99d85089be 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml @@ -3,6 +3,8 @@ input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] timeout_ms: 70.0 match_threshold_ms: 50.0 + image_buffer_size: 15 + debug_mode: false filter_scope_min_x: -100.0 filter_scope_min_y: -100.0 filter_scope_min_z: -100.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index e1be5426cb..21d31f2163 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,18 +1,26 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle - max_voxel_size: 40000 - point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - voxel_size: [0.32, 0.32, 8.0] - downsample_factor: 1 - encoder_in_feature_size: 12 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - # post-process params - circle_nms_dist_threshold: 0.3 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - # omp params - omp_num_threads: 1 + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle + max_voxel_size: 40000 + point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] + voxel_size: [0.32, 0.32, 8.0] + downsample_factor: 1 + encoder_in_feature_size: 12 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + has_twist: false + densification_params: + world_frame_id: "map" + num_past_frames: 0 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.3 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + score_threshold: 0.4 + omp_params: + # omp params + num_threads: 1 From daea9fc756368a98bc49eb3f064e7a09103940f9 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 10 Jan 2024 11:30:57 +0900 Subject: [PATCH 13/22] feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#730) Signed-off-by: Maxime CLEMENT --- .../planning/preset/default_preset.yaml | 3 +++ .../dynamic_obstacle_stop.param.yaml | 10 ++++++++ .../tier4_planning_component.launch.xml | 1 + autoware_launch/rviz/autoware.rviz | 24 +++++++++++++++++++ 4 files changed, 38 insertions(+) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7bd3dd26b3..3df13a108d 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -77,6 +77,9 @@ launch: - arg: name: launch_no_drivable_lane_module default: "false" + - arg: + name: launch_dynamic_obstacle_stop_module + default: "true" # motion planning modules - arg: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml new file mode 100644 index 0000000000..14483093e8 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -0,0 +1,10 @@ +/**: + ros__parameters: + dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object + extra_object_width: 1.0 # [m] extra width around detected objects + minimum_object_velocity: 0.5 # [m/s] objects with a velocity bellow this value are ignored + stop_distance_buffer: 0.5 # [m] extra distance to add between the stop point and the collision point + time_horizon: 5.0 # [s] time horizon used for collision checks + hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection + decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled + minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 5fb17541cd..3e9061da80 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -49,6 +49,7 @@ + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index bc22eadb70..d8d2602d1a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1676,6 +1676,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -1944,6 +1956,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop + Value: false Enabled: false Name: DebugMarker - Class: rviz_common/Group From 3d1e11728048609beea197ed3c7dedfebb80e9d0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 10 Jan 2024 11:49:53 +0900 Subject: [PATCH 14/22] fix(rviz): hide traffic light regulatory element id (#777) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index d8d2602d1a..a0ade56821 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -397,6 +397,7 @@ Visualization Manager: shoulder_road_lanelets: false traffic_light: true traffic_light_id: false + traffic_light_reg_elem_id: false traffic_light_triangle: true walkway_lanelets: true hatched_road_markings_bound: true From 02050cc99003c3398f11830045091e8ee70be468 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 10 Jan 2024 12:53:16 +0900 Subject: [PATCH 15/22] feat(surround_obstacle_checker): disable the surround obstacle checker (#685) Signed-off-by: Maxime CLEMENT --- .../launch/components/tier4_planning_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 3e9061da80..06740146f5 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -8,6 +8,7 @@ + From 5be51657d8ff49228bf0bafe11101367fbabf552 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 10 Jan 2024 14:53:36 +0900 Subject: [PATCH 16/22] feat: tune parameters for optimization path planning (#774) * feat: tune parameters for optimization path planning Signed-off-by: Takayuki Murooka * disable warm start Signed-off-by: Takayuki Murooka * Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml --------- Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 6 +++--- .../path_smoother/elastic_band_smoother.param.yaml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 9ab8f42bcf..db89a81e47 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -31,7 +31,7 @@ max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m] # make max_goal_moving_dist long to keep start point fixed for pull over max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m] - max_delta_time_sec: 1.0 # threshold of delta time for replan [second] + max_delta_time_sec: 0.0 # threshold of delta time for replan [second] # mpt param mpt: @@ -40,7 +40,7 @@ steer_limit_constraint: false visualize_sampling_num: 1 enable_manual_warm_start: false - enable_warm_start: true + enable_warm_start: false enable_optimization_validation: false common: @@ -62,7 +62,7 @@ # weight parameter for optimization weight: # collision free - soft_collision_free_weight: 1000.0 # soft weight for lateral error around the middle point + soft_collision_free_weight: 1.0 # soft weight for lateral error around the middle point # tracking error lat_error_weight: 1.0 # weight for lateral error diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml index c67d29c418..a9e71368e3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml @@ -44,4 +44,4 @@ max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m] # make max_goal_moving_dist long to keep start point fixed for pull over max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m] - max_delta_time_sec: 1.0 # threshold of delta time for replan [second] + max_delta_time_sec: 0.0 # threshold of delta time for replan [second] From bcf3b56314a0910a158a3620464e9b2cd73b605a Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 11 Jan 2024 11:38:33 +0900 Subject: [PATCH 17/22] feat(start_planner): keep distance against front objects (#766) Add collision check margin from front object Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 514d61e225..d04728861a 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 @@ -7,6 +7,7 @@ th_stopped_time: 1.0 collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 + collision_check_margin_from_front_object: 5.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 From d074e0e41e312c1a54f24de64a1ba1856a0c5bc1 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Thu, 11 Jan 2024 05:14:00 +0100 Subject: [PATCH 18/22] feat(ekf_localizer): add publish_tf arg (#772) Signed-off-by: amadeuszsz --- autoware_launch/config/localization/ekf_localizer.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 1c16624605..c1bfdaa787 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -4,6 +4,7 @@ enable_yaw_bias_estimation: true predict_frequency: 50.0 tf_rate: 50.0 + publish_tf: true extend_state_step: 50 # for Pose measurement From 017d50bf220240b75c7b9e4ea3459b85caac56df Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 11 Jan 2024 14:54:25 +0900 Subject: [PATCH 19/22] feat(start_planner): define collision check margin as list (#770) * Update collision check margins in start planner configuration Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../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 d04728861a..277771f13f 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 @@ -5,7 +5,7 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 - collision_check_margin: 1.0 + collision_check_margins: [2.0, 1.0, 0.5, 0.1] collision_check_distance_from_end: 1.0 collision_check_margin_from_front_object: 5.0 th_moving_object_velocity: 1.0 From ade41439a3e1f8184d8d4d24c304b1b680511060 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 11 Jan 2024 18:35:23 +0900 Subject: [PATCH 20/22] fix(intersection): fix bugs (#781) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.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/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 6fc136c512..4e9eb50f2a 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 @@ -72,7 +72,7 @@ enable: false creep_velocity: 0.8333 peeking_offset: -0.5 - occlusion_required_clearance_distance: 55 + occlusion_required_clearance_distance: 55.0 possible_object_bbox: [1.5, 2.5] ignore_parked_vehicle_speed_threshold: 0.8333 occlusion_detection_hold_time: 1.5 From ad2c8fdcd88665e7aa5540f7cc55e54a61a3d35e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 12 Jan 2024 13:34:21 +0900 Subject: [PATCH 21/22] chore(crosswalk): change params (#780) * change params Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/crosswalk.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 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 240963309e..273db320f1 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 @@ -16,7 +16,7 @@ # For the case where the crosswalk width is very wide far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). # For the case where the stop position is determined according to the object position. - stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin + stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false". slow_down: @@ -38,7 +38,7 @@ # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles 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: [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_margin_y: [3.0] # [[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_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) @@ -62,7 +62,7 @@ # param for target object filtering object_filtering: - crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk + crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle target_object: unknown: true # [-] whether to look and stop by UNKNOWN objects From 10b95d7669ff77a8fce3954c0b314e1126f92d9c Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 12 Jan 2024 20:57:26 +0900 Subject: [PATCH 22/22] feat(multi_object_tracker): fix typo in param name and change default value (#785) * fix(multi_object_tracker): fix typo in param name Signed-off-by: kminoda * feat: update default param Signed-off-by: kminoda --------- Signed-off-by: kminoda --- .../multi_object_tracker_node.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index f58de8e615..32a12f8bf5 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -17,7 +17,7 @@ publish_untracked_objects: false # debug parameters - publish_processing_time: false + publish_processing_time: true publish_tentative_objects: false - diagnostic_warn_delay: 0.5 # [sec] - diagnostic_error_delay: 1.0 # [sec] + diagnostics_warn_delay: 0.5 # [sec] + diagnostics_error_delay: 1.0 # [sec]