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 1eac06cb08..92f533bc63 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 @@ -2,12 +2,11 @@ /**: ros__parameters: avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] + resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER + resample_interval_for_output: 4.0 # [m] FOR DEVELOPER # avoidance module common setting enable_bound_clipping: false - enable_cancel_maneuver: true disable_path_update: false # drivable area setting @@ -17,210 +16,199 @@ use_hatched_road_markings: true use_freespace_areas: true - # for debug - publish_debug_marker: false - print_debug_info: false - # avoidance is performed for the object type with true target_object: car: - execute_num: 1 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 2.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 2.0 # [s] + longitudinal_margin: 0.0 # [m] lateral_margin: - 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] - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] + max_expand_ratio: 0.0 # [-] FOR DEVELOPER + envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER + 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: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - 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: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - 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: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: -0.2 # [m] - hard_margin_for_parked_vehicle: -0.2 # [m] + soft_margin: 0.7 + hard_margin: -0.2 + hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.5 # [m] - hard_margin_for_parked_vehicle: 0.5 # [m] + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] + soft_margin: 0.7 + hard_margin: 0.3 + hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.5 # [m] - hard_margin_for_parked_vehicle: 0.5 # [m] + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true - lower_distance_for_polygon_expansion: 30.0 # [m] - upper_distance_for_polygon_expansion: 100.0 # [m] + lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER + upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER # For target object filtering target_filtering: # avoidance target type target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: true # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range - object_check_goal_distance: 20.0 # [m] - object_check_return_pose_distance: 20.0 # [m] - # filtering parking objects - threshold_distance_object_is_on_center: 1.0 # [m] - object_check_shiftable_ratio: 0.8 # [-] - object_check_min_road_shoulder_width: 0.5 # [m] + object_check_goal_distance: 20.0 # [m] + object_check_return_pose_distance: 20.0 # [m] # lost object compensation - object_last_seen_threshold: 2.0 + max_compensation_time: 2.0 # detection area generation parameters detection_area: - static: false # [-] - min_forward_distance: 50.0 # [m] - max_forward_distance: 150.0 # [m] - backward_distance: 10.0 # [m] + static: false # [-] + min_forward_distance: 50.0 # [m] + max_forward_distance: 150.0 # [m] + backward_distance: 10.0 # [m] + + # filtering parking objects + parked_vehicle: + th_offset_from_centerline: 1.0 # [m] + th_shiftable_ratio: 0.8 # [-] + min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: - enable: true # [-] - closest_distance_to_wait_and_see: 10.0 # [m] + enable: true # [-] + closest_distance_to_wait_and_see: 10.0 # [m] condition: - time_threshold: 3.0 # [s] - distance_threshold: 1.0 # [m] + th_stopped_time: 3.0 # [s] + th_moving_distance: 1.0 # [m] ignore_area: traffic_light: - front_distance: 100.0 # [m] + front_distance: 100.0 # [m] crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] + front_distance: 30.0 # [m] + behind_distance: 30.0 # [m] # params for filtering objects that are in intersection intersection: - yaw_deviation: 0.349 # [rad] (default 20.0deg) + yaw_deviation: 0.349 # [rad] (default 20.0deg) # For safety check safety_check: # safety check target type target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: false # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration - enable: true # [-] - check_current_lane: false # [-] - check_shift_side_lane: true # [-] - check_other_side_lane: false # [-] - check_unavoidable_object: false # [-] - check_other_object: true # [-] + enable: true # [-] + check_current_lane: false # [-] + check_shift_side_lane: true # [-] + check_other_side_lane: false # [-] + check_unavoidable_object: false # [-] + check_other_object: true # [-] # collision check parameters - check_all_predicted_path: false # [-] - safety_check_backward_distance: 100.0 # [m] - hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 3 # [-] + check_all_predicted_path: false # [-] + safety_check_backward_distance: 100.0 # [m] + hysteresis_factor_expand_rate: 1.5 # [-] + hysteresis_factor_safe_count: 3 # [-] # predicted path parameters - min_velocity: 1.38 # [m/s] - max_velocity: 50.0 # [m/s] - time_resolution: 0.5 # [s] - time_horizon_for_front_object: 3.0 # [s] - time_horizon_for_rear_object: 10.0 # [s] - delay_until_departure: 0.0 # [s] + min_velocity: 1.38 # [m/s] + max_velocity: 50.0 # [m/s] + time_resolution: 0.5 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] + delay_until_departure: 0.0 # [s] # rss parameters - extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" - expected_front_deceleration: -1.0 # [m/ss] - 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: 2.0 # [m] - longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.0 # [s] + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" + expected_front_deceleration: -1.0 # [m/ss] + 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: 2.0 # [m] + longitudinal_distance_min_threshold: 3.0 # [m] + longitudinal_velocity_delta_time: 0.0 # [s] # For avoidance maneuver avoidance: # avoidance lateral parameters lateral: - lateral_execution_threshold: 0.09 # [m] - lateral_small_shift_threshold: 0.101 # [m] - lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] - hard_road_shoulder_margin: 0.3 # [m] - max_right_shift_length: 5.0 - max_left_shift_length: 5.0 + th_avoid_execution: 0.09 # [m] FOR DEVELOPER + th_small_shift_length: 0.101 # [m] FOR DEVELOPER + soft_drivable_bound_margin: 0.3 # [m] + hard_drivable_bound_margin: 0.3 # [m] + max_right_shift_length: 5.0 # [m] FOR DEVELOPER + max_left_shift_length: 5.0 # [m] FOR DEVELOPER max_deviation_from_lane: 0.2 # [m] # approve the next shift line after reaching this percentage of the current shift line length. # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. @@ -232,8 +220,8 @@ max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] - buf_slow_down_speed: 0.56 # [m/s] - nominal_avoidance_speed: 8.33 # [m/s] + buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER + nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER # return dead line return_dead_line: goal: @@ -243,6 +231,10 @@ enable: true # [-] buffer: 3.0 # [m] + # For cancel maneuver + cancel: + enable: true # [-] + # For yield maneuver yield: enable: true # [-] @@ -251,7 +243,7 @@ # For stop maneuver stop: max_distance: 20.0 # [m] - stop_buffer: 1.0 # [m] + stop_buffer: 1.0 # [m] FOR DEVELOPER policy: # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". @@ -273,6 +265,10 @@ # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. use_shorten_margin_immediately: true # [-] + # -------------------------------------- + # FOLLOWING PARAMETERS ARE FOR DEVELOPER + # -------------------------------------- + constraints: # lateral constraints lateral: @@ -292,8 +288,12 @@ shift_line_pipeline: trim: - quantize_filter_threshold: 0.1 - same_grad_filter_1_threshold: 0.1 - same_grad_filter_2_threshold: 0.2 - same_grad_filter_3_threshold: 0.5 - sharp_shift_filter_threshold: 0.2 + quantize_size: 0.1 + th_similar_grad_1: 0.1 + th_similar_grad_2: 0.2 + th_similar_grad_3: 0.5 + + # for debug + debug: + marker: false + console: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml index ce0ba25700..384ef7bd28 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml @@ -8,8 +8,8 @@ target_object: car: execute_num: 2 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] lateral_margin: @@ -18,8 +18,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] truck: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -28,8 +28,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] bus: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -38,8 +38,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] trailer: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -48,8 +48,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] unknown: execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -58,8 +58,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: @@ -68,8 +68,8 @@ hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: @@ -78,8 +78,8 @@ hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: