From 6805d0a42db8e4fb1464385ea1af7d378ee05f98 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 30 Oct 2023 01:06:35 +0900 Subject: [PATCH 1/4] fix(lane_change): separate backward buffer for blocking object (#661) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 e09f6e479b..b7ae55536e 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 @@ -5,6 +5,7 @@ prepare_duration: 4.0 # [s] backward_length_buffer_for_end_of_lane: 3.0 # [m] + backward_length_buffer_for_blocking_object: 3.0 # [m] lane_change_finish_judge_buffer: 2.0 # [m] lane_changing_lateral_jerk: 0.5 # [m/s3] From 7c8fb4e2015a71a6a76ab355295bf7bd9ca91803 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 30 Oct 2023 10:29:08 +0900 Subject: [PATCH 2/4] feat(behavior_path_planner): add traffic light recognition timeout threshold (#662) Signed-off-by: satoshi-ota --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 3a7393a4c9..6acbe9783d 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 @@ -3,6 +3,8 @@ verbose: false max_iteration_num: 100 + traffic_light_signal_timeout: 1.0 + groot_zmq_publisher_port: 1666 groot_zmq_server_port: 1667 From 4574c9b2738bb5b77348e5ed4d2ffd3daa54f073 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 30 Oct 2023 12:13:47 +0900 Subject: [PATCH 3/4] feat(radar_object_tracker): update and add parameter about radar_object_tracker for far away perecption (#658) update and add parameter about radar_object_tracker for far away detection Signed-off-by: yoshiri --- .../data_association_matrix.param.yaml | 8 ++--- .../default_tracker.param.yaml | 14 ++++---- .../radar_object_tracker.param.yaml | 9 +++-- .../constant_turn_rate_motion_tracker.yaml | 36 +++++++++++++++++++ .../tracking/linear_motion_tracker.yaml | 24 ++++++++----- .../tier4_perception_component.launch.xml | 4 +++ 6 files changed, 70 insertions(+), 25 deletions(-) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml index 104d790d18..69628414e6 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_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, 4.0, 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, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #CAR + 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #TRUCK + 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #BUS + 4.0, 6.0, 8.0, 8.0, 8.0, 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 diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml index 757125202d..6c26034860 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: - car_tracker: "linear_motion_tracker" - truck_tracker: "linear_motion_tracker" - bus_tracker: "linear_motion_tracker" - trailer_tracker: "linear_motion_tracker" - pedestrian_tracker: "linear_motion_tracker" - bicycle_tracker: "linear_motion_tracker" - motorcycle_tracker: "linear_motion_tracker" + car_tracker: "constant_turn_rate_motion_tracker" + truck_tracker: "constant_turn_rate_motion_tracker" + bus_tracker: "constant_turn_rate_motion_tracker" + trailer_tracker: "constant_turn_rate_motion_tracker" + pedestrian_tracker: "constant_turn_rate_motion_tracker" + bicycle_tracker: "constant_turn_rate_motion_tracker" + motorcycle_tracker: "constant_turn_rate_motion_tracker" diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml index f80adffb41..d2c0841cf3 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml @@ -4,12 +4,11 @@ # basic settings world_frame_id: "map" tracker_lifetime: 1.0 # [sec] - # if empty, use default config declared in this package - tracking_config_directory: "" + measurement_count_threshold: 3 # object will be published if it is tracked more than this threshold # delay compensate parameters publish_rate: 10.0 - enable_delay_compensation: false + enable_delay_compensation: true # logging enable_logging: false @@ -18,10 +17,10 @@ # filtering ## 1. distance based filtering: remove closer objects than this threshold use_distance_based_noise_filtering: true - minimum_range_threshold: 70.0 # [m] + minimum_range_threshold: 60.0 # [m] ## 2. lanelet map based filtering use_map_based_noise_filtering: true max_distance_from_lane: 5.0 # [m] max_angle_diff_from_lane: 0.785398 # [rad] (45 deg) - max_lateral_velocity: 5.0 # [m/s] + max_lateral_velocity: 7.0 # [m/s] diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml new file mode 100644 index 0000000000..f80f881cab --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml @@ -0,0 +1,36 @@ +default: + # This file defines the parameters for the linear motion tracker. + # All this parameter coordinate is assumed to be in the vehicle coordinate system. + # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle. + ekf_params: + # random walk noise is used to model the acceleration noise + process_noise_std: # [m/s^2] + x: 0.5 + y: 0.5 + yaw: 0.1 + vx: 1.0 # assume 1m/s velocity noise + wz: 0.4 + measurement_noise_std: + x: 4.0 # [m] + y: 4.0 # [m] + # y: 0.02 # rad/m if use_polar_coordinate_in_measurement_noise is true + yaw: 0.2 # [rad] + vx: 10 # [m/s] + initial_covariance_std: + x: 3.0 # [m] + y: 6.0 # [m] + yaw: 10.0 # [rad] + vx: 100.0 # [m/s] + wz: 10.0 # [rad/s] + # input flag + trust_yaw_input: false # set true if yaw input of sensor is reliable + trust_twist_input: false # set true if twist input of sensor is reliable + use_polar_coordinate_in_measurement_noise: false # set true if you want to define the measurement noise in polar coordinate + assume_zero_yaw_rate: false # set true if you want to assume zero yaw rate + # output limitation + limit: + max_speed: 80.0 # [m/s] + # low pass filter is used to smooth the yaw and shape estimation + low_pass_filter: + time_constant: 1.0 # [s] + sampling_time: 0.1 # [s] diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml index 71367f4575..5e813558a2 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml @@ -7,22 +7,28 @@ default: process_noise_std: # [m/s^2] ax: 0.98 # assume 0.1G acceleration noise ay: 0.98 - vx: 0.1 # assume 0.1m/s velocity noise - vy: 0.1 + vx: 1.0 # assume 1m/s velocity noise + vy: 1.0 x: 1.0 # assume 1m position noise y: 1.0 measurement_noise_std: x: 0.6 # [m] - y: 0.9 # [m] - vx: 0.4 # [m/s] - vy: 1 # [m/s] + # y: 4.0 # [m] + y: 0.01 # rad/m if use_polar_coordinate_in_measurement_noise is true + vx: 10 # [m/s] + vy: 100 # [m/s] initial_covariance_std: x: 3.0 # [m] y: 6.0 # [m] - vx: 1.0 # [m/s] - vy: 5.0 # [m/s] - ax: 0.5 # [m/s^2] - ay: 1.0 # [m/s^2] + vx: 1000.0 # [m/s] + vy: 1000.0 # [m/s] + ax: 1000.0 # [m/s^2] + ay: 1000.0 # [m/s^2] + estimate_acc: false # set true if you want to estimate the acceleration + # input flag + trust_yaw_input: false # set true if yaw input of sensor is reliable + trust_twist_input: false # set true if twist input of sensor is reliable + use_polar_coordinate_in_measurement_noise: true # set true if you want to define the measurement noise in polar coordinate # output limitation limit: max_speed: 80.0 # [m/s] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index e3df873492..5959d58e18 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -85,6 +85,10 @@ name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml" /> + Date: Mon, 30 Oct 2023 21:34:19 +0900 Subject: [PATCH 4/4] refactor(avoidance): cleanup force avoidance params (#667) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 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 ea75fc9cb4..ab1273b5b5 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 @@ -9,7 +9,6 @@ # avoidance module common setting enable_bound_clipping: false - enable_force_avoidance_for_stopped_vehicle: false enable_yield_maneuver: true enable_yield_maneuver_during_shifting: false enable_cancel_maneuver: true @@ -120,11 +119,6 @@ # For target object filtering target_filtering: - # params for avoidance of not-parked objects - threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] - object_ignore_section_traffic_light_in_front_distance: 100.0 # [m] - object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] - object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -141,6 +135,17 @@ max_forward_distance: 150.0 # [m] backward_distance: 10.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. + force_avoidance: + enable: false # [-] + time_threshold: 1.0 # [s] + ignore_area: + traffic_light: + front_distance: 100.0 # [m] + crosswalk: + front_distance: 30.0 # [m] + behind_distance: 30.0 # [m] + # For safety check safety_check: # safety check configuration