From df4d43596c9e3e3eca468f29468446d39110f22b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 11 Mar 2024 16:52:37 +0900 Subject: [PATCH 01/10] fix(avoidance): tune lateral margin params (#913) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 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 6650df56e1..c72033dd7c 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 @@ -30,9 +30,9 @@ moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 2.0 # [s] lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.5 # [m] safety_buffer_longitudinal: 0.0 # [m] @@ -42,9 +42,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 @@ -54,9 +54,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 @@ -66,9 +66,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 From 8ac10451f10c7a15164624c34c62448cd87a7ff6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 12 Mar 2024 08:47:06 +0900 Subject: [PATCH 02/10] fix(avoidance): tune safety check params (#914) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 c72033dd7c..5fbbfb21f2 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 @@ -192,7 +192,7 @@ check_all_predicted_path: false # [-] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 10 # [-] + hysteresis_factor_safe_count: 3 # [-] # predicted path parameters min_velocity: 1.38 # [m/s] max_velocity: 50.0 # [m/s] @@ -208,7 +208,7 @@ rear_vehicle_safety_time_margin: 1.0 # [s] lateral_distance_max_threshold: 2.0 # [m] longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.8 # [s] + longitudinal_velocity_delta_time: 0.0 # [s] # For avoidance maneuver avoidance: From 7635c5150df5d372720c4a23ed72a3a1f7a75ab3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 12 Mar 2024 15:21:30 +0900 Subject: [PATCH 03/10] feat(obstacle_cruise_planner): enable obstacle cruise's yield function by default (#917) enable obstacle cruise's yield function by default Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner/obstacle_cruise_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_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 2ff87e9b01..e9156441a4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -96,7 +96,7 @@ ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego yield: - enable_yield: false + enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it max_obstacles_collision_time: 10.0 # how far the blocking obstacle From 7c57ef7b7156ab6387e2320276af5d4a010b0f30 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 12 Mar 2024 17:56:51 +0900 Subject: [PATCH 04/10] feat(ndt_scan_matcher): added a parameter of sensor points (#908) * Added parameters of sensor points Signed-off-by: Shintaro SAKODA * Added unit Signed-off-by: Shintaro SAKODA --------- Signed-off-by: Shintaro SAKODA --- .../ndt_scan_matcher/ndt_scan_matcher.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index 144449ce75..241892e67b 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -11,6 +11,12 @@ map_frame: "map" + sensor_points: + # Required distance of input sensor points. [m] + # If the max distance of input sensor points is lower than this value, the scan matching will not be performed. + required_distance: 10.0 + + ndt: # The maximum difference between two consecutive # transformations in order to consider convergence From 5aced52b8d7e491fe446e4fa583762e24c43aad3 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 13 Mar 2024 14:02:53 +0900 Subject: [PATCH 05/10] chore: change default of low_height_crop filter use (#918) Signed-off-by: badai-nguyen --- .../launch/components/tier4_perception_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3b0f8eca46..d4d941da4e 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -19,6 +19,7 @@ + Date: Wed, 13 Mar 2024 17:47:21 +0900 Subject: [PATCH 06/10] feat(pointcloud_preprocessor, probabilistic_occupancy_grid_map): enable multi lidar occupancy grid map creation pipeline (#740) * add multi lidar pointcloud based ogm creation Signed-off-by: yoshiri * enable sensing launch to control concatenate node Signed-off-by: yoshiri * style(pre-commit): autofix * refactor : change concatenate node parameter name Signed-off-by: yoshiri * chore: set single lidar ogm to be default Signed-off-by: yoshiri * feat: update multi_lidar_ogm param file Signed-off-by: yoshiri * chore: remove sensing launch changes because it does not needed Signed-off-by: yoshiri * chore: fix multi lidar settings for sample sensor kit Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- ...tcloud_based_occupancy_grid_map.param.yaml | 53 +++++++++++++++++++ ...nchronized_grid_map_fusion_node.param.yaml | 20 +++++++ .../tier4_perception_component.launch.xml | 6 ++- 3 files changed, 78 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml create mode 100644 autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml new file mode 100644 index 0000000000..f9a1c4f930 --- /dev/null +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -0,0 +1,53 @@ +# sample grid map fusion parameters for sample sensor kit +/**: + ros__parameters: + # shared parameters + shared_config: + map_frame: "map" + base_link_frame: "base_link" + # center of the grid map + gridmap_origin_frame: "base_link" + + map_resolution: 0.5 # [m] + map_length_x: 150.0 # [m] + map_length_y: 150.0 # [m] + + # each grid map parameters + ogm_creation_config: + height_filter: + use_height_filter: true + min_height: -1.0 + max_height: 2.0 + enable_single_frame_mode: true + # use sensor pointcloud to filter obstacle pointcloud + filter_obstacle_pointcloud_by_raw_pointcloud: true + + grid_map_type: "OccupancyGridMapFixedBlindSpot" + OccupancyGridMapFixedBlindSpot: + distance_margin: 1.0 + OccupancyGridMapProjectiveBlindSpot: + projection_dz_threshold: 0.01 # [m] for avoiding null division + obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length + pub_debug_grid: false + + # parameter settings for ogm fusion + fusion_config: + # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length + # Setting1: tune ogm creation parameters + raw_pointcloud_topics: # put each sensor's pointcloud topic + - "/sensing/lidar/top/pointcloud" + - "/sensing/lidar/left/pointcloud" + - "/sensing/lidar/right/pointcloud" + fusion_input_ogm_topics: + - "/perception/occupancy_grid_map/top_lidar/map" + - "/perception/occupancy_grid_map/left_lidar/map" + - "/perception/occupancy_grid_map/right_lidar/map" + # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer" + input_ogm_reliabilities: + - 1.0 + - 0.6 + - 0.6 + + # Setting2: tune ogm fusion parameters + ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"] + fusion_method: "overwrite" diff --git a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml new file mode 100644 index 0000000000..f8a2dc2fbc --- /dev/null +++ b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + # 1. fusion parameters + fusion_input_ogm_topics: ["topic1", "topic2"] + input_ogm_reliabilities: [0.8, 0.2] + fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"] + + # 2. synchronization settings + match_threshold_sec: 0.01 # 10ms + timeout_sec: 0.1 # 100ms + input_offset_sec: [0.0, 0.0] # no offset + + # 3. settings for fused fusion map + # remember resolution and map size should be same with input maps + map_frame_: "map" + base_link_frame_: "base_link" + grid_map_origin_frame_: "base_link" + fusion_map_length_x: 100.0 + fusion_map_length_y: 100.0 + fusion_map_resolution: 0.5 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index d4d941da4e..8418afabdf 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -1,6 +1,10 @@ - + Date: Wed, 13 Mar 2024 18:50:04 +0900 Subject: [PATCH 07/10] chore(duplicated_node_checker): print duplication name (#888) Signed-off-by: Mamoru Sobue --- .../duplicated_node_checker/duplicated_node_checker.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml index 54b4f691b6..96dce7eb36 100644 --- a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml +++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: update_rate: 10.0 - add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg + add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg From b37411114f38cf54b8800de297cc39c7c1e1034d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 14 Mar 2024 00:18:02 +0900 Subject: [PATCH 08/10] feat: add marker for control's stop reason, false by default (#912) Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9b998dc29b..8b305e3e46 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2374,6 +2374,19 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC From f4778f96f820d0fd2ee7b90f107dfb9aff048a09 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 14 Mar 2024 13:04:23 +0900 Subject: [PATCH 09/10] feat(crosswalk): increase minimum occlusion size that causes slowdown to 1m (#909) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 87140169b4..ac18c935dd 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 @@ -75,7 +75,7 @@ occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown - min_size: 0.5 # [m] minimum size of an occlusion (square side size) + min_size: 1.0 # [m] minimum size of an occlusion (square side size) 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 ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored From 948d3bad60c53a07c3b03fe28a777dca93e26461 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 15 Mar 2024 11:01:02 +0900 Subject: [PATCH 10/10] refactor(avoidance): rename param (#923) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5fbbfb21f2..3cde099bf9 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 @@ -154,7 +154,7 @@ backward_distance: 10.0 # [m] # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. - force_avoidance: + avoidance_for_ambiguous_vehicle: enable: true # [-] time_threshold: 3.0 # [s] distance_threshold: 1.0 # [m]