diff --git a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml index 6957040506..fac8687c5e 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml @@ -1,11 +1,10 @@ /**: ros__parameters: - tracker_ignore_label: - UNKNOWN : true - CAR : false - TRUCK : false - BUS : false - TRAILER : false - MOTORCYCLE : false - BICYCLE : false - PEDESTRIAN : false + tracker_ignore_label.UNKNOWN : true + tracker_ignore_label.CAR : false + tracker_ignore_label.TRUCK : false + tracker_ignore_label.BUS : false + tracker_ignore_label.TRAILER : false + tracker_ignore_label.MOTORCYCLE : false + tracker_ignore_label.BICYCLE : false + tracker_ignore_label.PEDESTRIAN : false 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 108e021240..238d40e7ad 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 @@ -67,7 +67,7 @@ occupied_min: 58 denoise_kernel: 1.0 attention_lane_crop_curvature_threshold: 0.25 - attention_lane_curvature_calculation_ds: 0.5 + attention_lane_curvature_calculation_ds: 0.6 creep_during_peeking: enable: false creep_velocity: 0.8333 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 86bcf34382..196f7c6296 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -3,7 +3,7 @@ run_out: detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points use_partition_lanelet: true # [-] whether to use partition lanelet map data - suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet: + suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin @@ -12,15 +12,7 @@ detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision - detection_area: - margin_behind: 0.5 # [m] ahead margin for detection area length - margin_ahead: 1.0 # [m] behind margin for detection area length - - # This area uses points not filtered by vector map to ensure safety - mandatory_area: - decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area - - # parameter to create abstracted dynamic obstacles + # Parameter to create abstracted dynamic obstacles dynamic_obstacle: use_mandatory_area: false # [-] whether to use mandatory detection area assume_fixed_velocity: @@ -34,26 +26,42 @@ time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method - # approach if ego has stopped in the front of the obstacle for a certain amount of time - approaching: - enable: false - margin: 0.0 # [m] distance on how close ego approaches the obstacle - limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping - - # parameters for the change of state. used only when approaching is enabled - state: - stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping - stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state - disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value - keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition - - # parameter to avoid sudden stopping + # Parameter to prevent sudden stopping. + # If the deceleration jerk and acceleration exceed this value upon inserting a stop point, + # the deceleration will be moderated to stay under this value. slow_down_limit: enable: false max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. - # prevent abrupt stops caused by false positives in perception + # Parameter to prevent abrupt stops caused by false positives in perception ignore_momentary_detection: enable: true time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration + + # Typically used when the "detection_method" is set to ObjectWithoutPath or Points + # Approach if the ego has stopped in front of the obstacle for a certain period + # This avoids the issue of the ego continuously stopping in front of the obstacle + approaching: + enable: false + margin: 0.0 # [m] distance on how close ego approaches the obstacle + limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping + # Parameters for state change when "approaching" is enabled + state: + stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping + stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state + disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value + keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition + + # Only used when "detection_method" is set to Points + # Filters points by the detection area polygon to reduce computational cost + # The detection area is calculated based on the current velocity and acceleration and deceleration jerk constraints + detection_area: + margin_behind: 0.5 # [m] ahead margin for detection area length + margin_ahead: 1.0 # [m] behind margin for detection area length + + # Only used when "detection_method" is set to Points + # Points in this area are detected even if it is in the no obstacle segmentation area + # The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints + mandatory_area: + decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area