From 31b7b9883478952a762921893475559653b6300d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Dec 2023 14:43:55 +0900 Subject: [PATCH 01/75] feat: add stopped_object.max_object_vel in dynamic_avoidance (#753) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 3 +++ 1 file changed, 3 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 854c29aa89..29fdca78e5 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 @@ -46,6 +46,9 @@ min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. + stopped_object: + max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. + drivable_area_generation: polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: From 9e5e166cf770d548c03a6be44710f537b09f4acd Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 25 Dec 2023 18:43:23 +0900 Subject: [PATCH 02/75] feat(start_planner): change collision_check_distance_from_end to shorten back distance ## Description (#754) feat(start_planner): change collision_check_distance_from_end to shorten back distance Signed-off-by: kosuke55 --- .../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 514d61e225..b96e81a699 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 @@ -6,7 +6,7 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margin: 1.0 - collision_check_distance_from_end: 1.0 + collision_check_distance_from_end: -10.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 From 96f2f18d23ba829804415135b241065ecf53b13d Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 25 Dec 2023 23:24:29 +0900 Subject: [PATCH 03/75] feat(start_planner): revert change collision_check_distance_from_end to shorten back distance (#757) Revert "feat(start_planner): change collision_check_distance_from_end to shorten back distance" This reverts commit 680fb05e9bebdff6cf2c9734631cb4e949d7c499. --- .../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 b96e81a699..514d61e225 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 @@ -6,7 +6,7 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margin: 1.0 - collision_check_distance_from_end: -10.0 + collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 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 04/75] 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 05/75] 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 06/75] 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 07/75] 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 08/75] 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 09/75] 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 10/75] 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 11/75] 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 12/75] 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 13/75] 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 14/75] 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 15/75] 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 16/75] 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 17/75] 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 18/75] 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 19/75] 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 20/75] 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 21/75] 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 22/75] 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 23/75] 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 24/75] 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 25/75] 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] From 3e4aa01bed2ffb70a2cba7cc8c865d5e025af2a7 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Mon, 15 Jan 2024 14:25:40 +0900 Subject: [PATCH 26/75] feat(start_planner): shorten max backward distance (#734) Update start_planner.param.yaml --- .../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 277771f13f..592302ce5d 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 @@ -32,7 +32,7 @@ # search start pose backward enable_back: true search_priority: "efficient_path" # "efficient_path" or "short_back_distance" - max_back_distance: 30.0 + max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 ignore_distance_from_lane_end: 15.0 From e7c0f89b8bf22a1fab6954c67567ddd6fca6bbfc Mon Sep 17 00:00:00 2001 From: melike tanrikulu <41450930+meliketanrikulu@users.noreply.github.com> Date: Mon, 15 Jan 2024 08:55:03 +0300 Subject: [PATCH 27/75] refactor(ekf_localizer): add Simple1DFilter params to parameter file (#710) * feat(ekf_localizer): Add Simple1DFilter params to parameter file Signed-off-by: meliketanrikulu * Update autoware_launch/config/localization/ekf_localizer.param.yaml --------- Signed-off-by: meliketanrikulu Co-authored-by: Kento Yabuuchi --- autoware_launch/config/localization/ekf_localizer.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index c1bfdaa787..ebdf2828fc 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -23,6 +23,10 @@ proc_stddev_vx_c: 10.0 proc_stddev_wz_c: 5.0 + #Simple1DFilter parameters + z_filter_proc_dev: 1.0 + roll_filter_proc_dev: 0.01 + pitch_filter_proc_dev: 0.01 # for diagnostics pose_no_update_count_threshold_warn: 50 pose_no_update_count_threshold_error: 100 From 7e145bcaefbbc17cd225c22dba1898c25c37eae5 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 15 Jan 2024 18:10:11 +0900 Subject: [PATCH 28/75] feat(mpc): add parameter for debug trajectory publisher (#790) Signed-off-by: Takamasa Horibe --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 4222082d40..9998b6aadf 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -74,3 +74,5 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 + + debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate From 5b6dab34c6ff19929bbca0492b216115b6ebec86 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 16 Jan 2024 00:08:54 +0900 Subject: [PATCH 29/75] fix(image_projection_based_fusion): add image_porojection_based_fusion params (#789) add image_porojection_based_fusion params Signed-off-by: Shunsuke Miura --- .../roi_cluster_fusion.param.yaml | 12 ++++++++++++ .../roi_detected_object_fusion.param.yaml | 19 +++++++++++++++++++ .../roi_pointcloud_fusion.param.yaml | 5 +++++ .../tier4_perception_component.launch.xml | 12 ++++++++++++ 4 files changed, 48 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml create mode 100755 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml new file mode 100644 index 0000000000..90ba841d53 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + fusion_distance: 100.0 + trust_object_distance: 100.0 + trust_object_iou_mode: "iou" + non_trust_object_iou_mode: "iou_x" + use_cluster_semantic_type: false + only_allow_inside_cluster: true + roi_scale_factor: 1.1 + iou_threshold: 0.65 + unknown_iou_threshold: 0.1 + remove_unknown: true diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml new file mode 100755 index 0000000000..bd49dc6574 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml @@ -0,0 +1,19 @@ +/**: + ros__parameters: + # UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50] + trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0] + min_iou_threshold: 0.5 + use_roi_probability: false + roi_probability_threshold: 0.5 + + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg + [1, 0, 0, 0, 0, 0, 0, 0, # UNKNOWN <-detected_objects + 0, 1, 1, 1, 1, 0, 0, 0, # CAR + 0, 1, 1, 1, 1, 0, 0, 0, # TRUCK + 0, 1, 1, 1, 1, 0, 0, 0, # BUS + 0, 1, 1, 1, 1, 0, 0, 0, # TRAILER + 0, 0, 0, 0, 0, 1, 1, 1, # MOTORBIKE + 0, 0, 0, 0, 0, 1, 1, 1, # BICYCLE + 0, 0, 0, 0, 0, 1, 1, 1] # PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml new file mode 100644 index 0000000000..5b86b8e81d --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + fuse_unknown_only: true + min_cluster_size: 2 + cluster_2d_tolerance: 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 3a968f0f27..21373c78e4 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -48,6 +48,18 @@ name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml" /> + + + Date: Tue, 16 Jan 2024 16:09:29 +0900 Subject: [PATCH 30/75] fix: change the way to disable surround_obstacle_checker (#794) Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../launch/components/tier4_planning_component.launch.xml | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 3df13a108d..3512d722ec 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -112,7 +112,7 @@ launch: - arg: name: launch_surround_obstacle_checker - default: "true" + default: "false" # parking modules - arg: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 06740146f5..3e9061da80 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -8,7 +8,6 @@ - From faef67ad27511d9bd604e3757203e119a7940967 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 16 Jan 2024 23:32:22 +0900 Subject: [PATCH 31/75] feat(avoidance/goal_planner): execute avoidance and pull over simultaneously (#782) Signed-off-by: kosuke55 --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- .../behavior_path_planner/scene_module_manager.param.yaml | 2 +- 2 files changed, 3 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 0618185dcf..d540a73940 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 @@ -122,7 +122,8 @@ motorcycle: true # [-] pedestrian: true # [-] # detection range - object_check_goal_distance: 20.0 # [m] + 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: 0.6 # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 0090a29926..584039ba5d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -53,7 +53,7 @@ goal_planner: enable_rtc: false - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: true priority: 1 From 55cba841a135ae4f8482f0f6dac9032d79d00f2c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 17 Jan 2024 17:43:42 +0900 Subject: [PATCH 32/75] fix(AbLC): fix module name inconsistency (#795) Signed-off-by: satoshi-ota --- .../avoidance_by_lane_change.param.yaml} | 0 .../behavior_path_planner/scene_module_manager.param.yaml | 2 +- .../launch/components/tier4_planning_component.launch.xml | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/{avoidance_by_lc/avoidance_by_lc.param.yaml => avoidance_by_lane_change/avoidance_by_lane_change.param.yaml} (100%) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.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 similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 584039ba5d..9853e220bc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -67,7 +67,7 @@ priority: 4 max_module_size: 1 - avoidance_by_lc: + avoidance_by_lane_change: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 3e9061da80..4711f4b7f0 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -24,7 +24,7 @@ - + From d3811ef583fa07155c4c5565c3ec95ef816e75eb Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 17 Jan 2024 19:18:19 +0900 Subject: [PATCH 33/75] feat(rviz): add marker to show bpp internal state (#801) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index a0ade56821..064f87d3ff 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3649,6 +3649,22 @@ Visualization Manager: Value: true Enabled: true Name: Objects Of Interest + - Class: rviz_plugins/StringStampedOverlayDisplay + Enabled: true + Font Size: 15 + Left: 1024 + Max Letter Num: 100 + Name: StringStampedOverlayDisplay + Text Color: 25; 255; 240 + Top: 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state + Value: true + Value height offset: 0 Enabled: true Name: Planning - Class: rviz_common/Group From 604660c3b568217aa2ab27fcbff619578467282e Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 18 Jan 2024 15:45:08 +0900 Subject: [PATCH 34/75] chore: update roi_cluster_fusion default param (#802) Signed-off-by: badai-nguyen --- .../image_projection_based_fusion/roi_cluster_fusion.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml index 90ba841d53..016a133227 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml @@ -9,4 +9,4 @@ roi_scale_factor: 1.1 iou_threshold: 0.65 unknown_iou_threshold: 0.1 - remove_unknown: true + remove_unknown: false From cb6e526e5de3ba9359c9fa0f3013911199cdd200 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 18 Jan 2024 17:58:19 +0900 Subject: [PATCH 35/75] feat(intersection): consider 1st/2nd pass judge line (#792) 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 4e9eb50f2a..108e021240 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 @@ -12,6 +12,7 @@ max_accel: -2.8 max_jerk: -5.0 delay_response_time: 0.5 + enable_pass_judge_before_default_stopline: false stuck_vehicle: turn_direction: @@ -36,7 +37,6 @@ consider_wrong_direction_vehicle: false collision_detection_hold_time: 0.5 min_predicted_path_confidence: 0.05 - keep_detection_velocity_threshold: 0.833 velocity_profile: use_upstream: true minimum_upstream_velocity: 0.01 From b88af2dd6fc4ef5eccdb674469c0c2068b918ef6 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 18 Jan 2024 20:22:57 +0900 Subject: [PATCH 36/75] feat(start_planner): enable shift path lane departure check (#803) enable shift path lane departure check in start planner 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 592302ce5d..ddfc8fab52 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 @@ -13,7 +13,7 @@ center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true - check_shift_path_lane_departure: false + check_shift_path_lane_departure: true minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5 From e96c3fa12a1a05c66be6c7158a112827bfe2633a Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 18 Jan 2024 20:44:59 +0900 Subject: [PATCH 37/75] chore(pointcloud_container): fix output log from screen to both (#804) Signed-off-by: kminoda --- autoware_launch/launch/pointcloud_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 87c46bce69..dfe9191d3c 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -43,7 +43,7 @@ def add_launch_arg(name: str, default_value=None): package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=[], - output="screen", + output="both", ) return LaunchDescription( From 93f9663e1ba7bce1774a9d43d6303121a11ec6cb Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 19 Jan 2024 08:31:43 +0900 Subject: [PATCH 38/75] fix(surround_obstacle_checker): use xx1 params (#800) Signed-off-by: satoshi-ota --- .../surround_obstacle_checker.param.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml index 5ec10572ff..7f72420b3a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml @@ -9,7 +9,7 @@ surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 unknown: - enable_check: true + enable_check: false surround_check_front_distance: 0.5 surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 @@ -17,22 +17,22 @@ enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 truck: enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 bus: enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 trailer: enable_check: true surround_check_front_distance: 0.5 surround_check_side_distance: 0.0 - surround_check_back_distance: 0.5 + surround_check_back_distance: 0.0 motorcycle: enable_check: true surround_check_front_distance: 0.5 @@ -49,9 +49,9 @@ surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 - surround_check_hysteresis_distance: 0.3 + surround_check_hysteresis_distance: 0.1 - state_clear_time: 2.0 + state_clear_time: 0.2 # ego stop state stop_state_ego_speed: 0.1 #[m/s] From 71a0a3ee6e6274788932b0e0cac80529a976b363 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 19 Jan 2024 10:00:05 +0900 Subject: [PATCH 39/75] feat: always separate lidar preprocessing from pointcloud_container (#796) * feat!: replace use_pointcloud_container Signed-off-by: kminoda * change default value Signed-off-by: kminoda * remove from planning Signed-off-by: kminoda * revert: revert change in planning.launch Signed-off-by: kminoda * revert: revert rename of use_pointcloud_container Signed-off-by: kminoda * revert: revert pointcloud_container launch Signed-off-by: kminoda * style(pre-commit): autofix * feat: move glog to pointcloud_container.launch.py * revert: revert unnecessary change Signed-off-by: kminoda * revert: revert glog porting Signed-off-by: kminoda * fix: fix comment in localization launch Signed-off-by: kminoda * style(pre-commit): autofix * remove pointcloud_container_name from localization launcher Signed-off-by: kminoda --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../components/tier4_localization_component.launch.xml | 8 ++++++-- .../components/tier4_perception_component.launch.xml | 1 - 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 88b326b2f7..7ec292a381 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -4,15 +4,19 @@ + - - + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 21373c78e4..939792af84 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -13,7 +13,6 @@ - From 61d8ee599640f4f5958a4e45b77fd4a3ac4fc7d7 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 19 Jan 2024 13:16:46 +0900 Subject: [PATCH 40/75] feat(map_based_prediction): use acc for map prediction (#788) * add param to toggle on and off acc consideration Signed-off-by: Daniel Sanchez * add params Signed-off-by: Daniel Sanchez * set default to true for evaluator testing Signed-off-by: Daniel Sanchez * set back to false default 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 fe4d2a51ec..fdd64174de 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 @@ -16,6 +16,9 @@ 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 + use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not + speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value + acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 From b346792d6184334c8d20df6219f9dbc011e78e5d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 19 Jan 2024 19:01:17 +0900 Subject: [PATCH 41/75] chore(planning): change params to vehicle tested values (#797) change params to vehicle tested values Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/crosswalk.param.yaml | 6 +++--- .../behavior_velocity_planner/walkway.param.yaml | 2 +- .../obstacle_cruise_planner.param.yaml | 8 ++++---- 3 files changed, 8 insertions(+), 8 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 273db320f1..72102ed908 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 @@ -50,15 +50,15 @@ min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] - 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) + stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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: 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] - timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. + timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s] + timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. # param for target object filtering object_filtering: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml index f21e3d12db..07f493edcd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: walkway: - stop_duration: 1.0 # [s] stop time at stop position + stop_duration: 0.1 # [s] stop time at stop position stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists 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 90e897fda3..1ac32ba562 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 @@ -85,15 +85,15 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: - obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 1.0 # time threshold to decide cut-in obstacle for cruise or stop [s] + obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] + 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 slow_down: @@ -187,7 +187,7 @@ static: min_lat_margin: 0.2 max_lat_margin: 1.0 - min_ego_velocity: 2.0 + min_ego_velocity: 4.0 max_ego_velocity: 8.0 moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving" From 1f0a5a14b319f7ff4f1bf34baef9e53e2328edf7 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 19 Jan 2024 20:41:08 +0900 Subject: [PATCH 42/75] feat(planning): add enable_all_modules_auto_mode argument to launch files for planning modules (#798) * Add auto mode setting for all modules Signed-off-by: kyoichi-sugahara --- autoware_launch/launch/autoware.launch.xml | 3 +++ .../launch/components/tier4_planning_component.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 4 ++++ 3 files changed, 9 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 80822d0146..64bdf47c72 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -44,6 +44,8 @@ + + @@ -103,6 +105,7 @@ + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 4711f4b7f0..4e65c30c02 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -2,12 +2,14 @@ + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 28a0f0e347..030299f5af 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -30,6 +30,8 @@ + + @@ -63,6 +65,8 @@ + + From 765cafd6df77214d8bf6d6262bef0adf70e7f19a Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Sat, 20 Jan 2024 18:22:39 +0900 Subject: [PATCH 43/75] chore(pointcloud_container): move glog_component to autoware_launch (#805) --- autoware_launch/launch/pointcloud_container.launch.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index dfe9191d3c..650e555e27 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -19,6 +19,7 @@ from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode def generate_launch_description(): @@ -37,12 +38,19 @@ def add_launch_arg(name: str, default_value=None): condition=IfCondition(LaunchConfiguration("use_multithread")), ) + glog_component = ComposableNode( + package="glog_component", + plugin="GlogComponent", + name="glog_component", + namespace="pointcloud_container", + ) + pointcloud_container = ComposableNodeContainer( name=LaunchConfiguration("container_name"), namespace="/", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[], + composable_node_descriptions=[glog_component], output="both", ) From 873f15457b55badf864e2f1cea0413f13099fbe5 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 21 Jan 2024 14:02:49 +0900 Subject: [PATCH 44/75] feat(goal_planner): expand pull over lanes for detection area of path generation collision check (#808) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 06fe74e3b7..d03efa405f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -38,6 +38,7 @@ object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 + detection_bound_offset: 15.0 # pull over pull_over: From 88ee8de117a830a3ca2acd2004d7e7a08e7f154c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 22 Jan 2024 11:08:17 +0900 Subject: [PATCH 45/75] chore(intersection): align param to robotaxi (#809) --- .../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 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 From de1ba7cb4eb1ebee7abf884c7795c4091e836097 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Mon, 22 Jan 2024 14:12:02 +0900 Subject: [PATCH 46/75] refactor(run_out): reorganize the parameter (#784) * chore(run_out): reorganize the parameter Signed-off-by: Tomohito Ando * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../run_out.param.yaml | 58 +++++++++++-------- 1 file changed, 33 insertions(+), 25 deletions(-) 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 From 000527bde7b1a4e4d643591d031818169802188d Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 22 Jan 2024 15:36:40 +0900 Subject: [PATCH 47/75] chore(detection_by_tracker): organize parameter structure (#811) Signed-off-by: kminoda --- .../detection_by_tracker.param.yaml | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) 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 From f5a287566f49e7c7302abbb994e86bb8f2cd5710 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 23 Jan 2024 11:52:16 +0900 Subject: [PATCH 48/75] fix(vehicle_launch): add raw_vehicle_cmd_converter parameter file (#812) Signed-off-by: Fumiya Watanabe --- .../raw_vehicle_cmd_converter.param.yaml | 25 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 1 + 2 files changed, 26 insertions(+) create mode 100644 autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml new file mode 100644 index 0000000000..f6676bdbe7 --- /dev/null +++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml @@ -0,0 +1,25 @@ +/**: + ros__parameters: + convert_accel_cmd: true + convert_brake_cmd: true + convert_steer_cmd: false + use_steer_ff: true + use_steer_fb: true + is_debugging: false + max_throttle: 0.4 + max_brake: 0.8 + max_steer: 10.0 + min_steer: -10.0 + steer_pid: + kp: 150.0 + ki: 15.0 + kd: 0.0 + max: 8.0 + min: -8.0 + max_p: 8.0 + min_p: -8.0 + max_i: 8.0 + min_i: -8.0 + max_d: 0.0 + min_d: 0.0 + invalid_integration_decay: 0.97 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 64bdf47c72..a2cd12b2c1 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -71,6 +71,7 @@ + From 8b818d4ddbe2e5ad16d3f2f4b20bdd08e3694963 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 24 Jan 2024 09:55:38 +0900 Subject: [PATCH 49/75] fix(avoidance): decrease velocity threshold for avoidance target objects (#817) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 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 d540a73940..dfe62a2487 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 @@ -38,7 +38,7 @@ 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: 2.0 # 7.2km/h + moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -48,7 +48,7 @@ use_conservative_buffer_longitudinal: true bus: execute_num: 1 - moving_speed_threshold: 2.0 # 7.2km/h + moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 @@ -58,7 +58,7 @@ use_conservative_buffer_longitudinal: true trailer: execute_num: 1 - moving_speed_threshold: 2.0 # 7.2km/h + moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 From b58eff29ce9fa8afa8b35bc9e7dde8492cda2f23 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 25 Jan 2024 14:40:00 +0900 Subject: [PATCH 50/75] fix(ndt_scan_matcher): fix type of critical_upper_bound_exe_time_ms (#819) * fix type Signed-off-by: Yamato Ando * fix order Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../config/localization/ndt_scan_matcher.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 9bc62d3f91..a5a4941bfe 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -54,6 +54,9 @@ # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100.0 + # Number of threads used for parallel computing num_threads: 4 @@ -98,6 +101,3 @@ # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 - - # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100 From 3e4dc2455f69a327406999c57e09f3d9db6e1977 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 25 Jan 2024 14:51:43 +0900 Subject: [PATCH 51/75] feat(start_planner): change collision_check_distance_from_end to shorten back distance (#757)" (#813) Revert "feat(start_planner): revert change collision_check_distance_from_end to shorten back distance (#757)" This reverts commit 96f2f18d23ba829804415135b241065ecf53b13d. --- .../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 ddfc8fab52..27ce630f1a 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 @@ -6,7 +6,7 @@ th_stopped_velocity: 0.01 th_stopped_time: 1.0 collision_check_margins: [2.0, 1.0, 0.5, 0.1] - collision_check_distance_from_end: 1.0 + collision_check_distance_from_end: -10.0 collision_check_margin_from_front_object: 5.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 From 7df85a85c7eba27cc1b96ceb58304d8515c7b9ee Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 25 Jan 2024 15:28:34 +0900 Subject: [PATCH 52/75] feat(crosswalk)!: improve stuck prevention on crosswalk (#816) * change a param definition Signed-off-by: Yuki Takagi --- .../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 72102ed908..921b728a34 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 @@ -30,7 +30,7 @@ enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not. max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path. - stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path. + required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle min_acc: -1.0 # min acceleration [m/ss] min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] From 626b48b79206a2f5cc12baaeb72d6c0027aa026a Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 26 Jan 2024 12:50:17 +0900 Subject: [PATCH 53/75] fix(tracking_object_merger): fix unknown is not associated problem (#825) fix: unknown is not associated problem Signed-off-by: yoshiri --- .../data_association_matrix.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml index 702809b3ce..c232dbde40 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml @@ -3,7 +3,7 @@ lidar-lidar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS @@ -59,7 +59,7 @@ lidar-radar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS @@ -115,7 +115,7 @@ radar-radar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS From 8ec96492210b97c3df109ceb2f0202b159384a41 Mon Sep 17 00:00:00 2001 From: Motz <83898149+Motsu-san@users.noreply.github.com> Date: Fri, 26 Jan 2024 13:44:06 +0900 Subject: [PATCH 54/75] refactor(system_error_monitor): rename localization_accuracy (#605) refactor: Rename localization_accuracy to localization_error_ellipse Signed-off-by: Motsu-san --- autoware_launch/config/simulator/fault_injection.param.yaml | 2 +- .../system_error_monitor/system_error_monitor.awsim.param.yaml | 2 +- .../system/system_error_monitor/system_error_monitor.param.yaml | 2 +- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index 1a57b852f7..ac02442d70 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -4,7 +4,7 @@ vehicle_is_out_of_lane: "lane_departure" trajectory_deviation_is_high: "trajectory_deviation" localization_matching_score_is_low: "ndt_scan_matcher" - localization_accuracy_is_low: "localization_accuracy" + localization_accuracy_is_low: "localization_error_ellipse" map_version_is_different: "map_version" trajectory_is_invalid: "trajectory_point_validation" cpu_temperature_is_high: "CPU Temperature" diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml index 2f98f9d0e2..69e3831591 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -23,7 +23,7 @@ /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index 6a763eace4..d8229425af 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -23,7 +23,7 @@ /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_accuracy: default + /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 3fd6264376..deddf33b34 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -24,7 +24,7 @@ /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_accuracy: default + # /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/map/node_alive_monitoring: default From 402bb3fd04e988f27446445c231a8239470c7ed6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 26 Jan 2024 15:55:55 +0900 Subject: [PATCH 55/75] feat(avoidance): add new flag to use freespace in avoidance module (#818) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 dfe62a2487..d1da7b7730 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 @@ -19,6 +19,7 @@ use_opposite_lane: true use_intersection_areas: true use_hatched_road_markings: true + use_freespace_areas: true # for debug publish_debug_marker: false From 3f1c9053933d47fc23cfeee9cecb5ca8e5ec1206 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 26 Jan 2024 21:09:57 +0900 Subject: [PATCH 56/75] fix(avoidance): change return dead line param (#814) 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 d1da7b7730..52724cdda0 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 @@ -219,7 +219,7 @@ return_dead_line: goal: enable: true # [-] - buffer: 30.0 # [m] + buffer: 3.0 # [m] traffic_light: enable: true # [-] buffer: 3.0 # [m] From 726210f6d8dc15e06ea5278172fd7ef36efdf68c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 29 Jan 2024 10:08:06 +0900 Subject: [PATCH 57/75] feat(intersection): publish and visualize the reason for dangerous situation to blame past detection fault retrospectively (#828) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 238d40e7ad..86bcf801f4 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 @@ -59,6 +59,8 @@ object_expected_deceleration: 2.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 + avoid_collision_by_acceleration: + object_time_margin_to_collision_point: 4.0 occlusion: enable: false From 64b2990706a21c657f383502899b0669c0885203 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jan 2024 13:03:11 +0900 Subject: [PATCH 58/75] chore(object_range_splitter): rework parameters (#821) * chore(object_range_splitter): add config Signed-off-by: kminoda * revert change Signed-off-by: kminoda --------- Signed-off-by: kminoda --- .../object_range_splitter_radar.param.yaml | 3 +++ .../object_range_splitter_radar_fusion.param.yaml | 3 +++ .../components/tier4_perception_component.launch.xml | 8 ++++++++ 3 files changed, 14 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml new file mode 100644 index 0000000000..ed1ce176ed --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + split_range: 80.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml new file mode 100644 index 0000000000..a8b2562883 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + split_range: 70.0 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 939792af84..8636141685 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -88,6 +88,14 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml" /> + + Date: Mon, 29 Jan 2024 16:25:18 +0900 Subject: [PATCH 59/75] refactor(ndt_scan_matcher): rename de-grounded (#827) * refactor(ndt_scan_matcher): rename de-grounded Signed-off-by: Yamato Ando * fix value Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../config/localization/ndt_scan_matcher.param.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index a5a4941bfe..d4c49b7e8e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -95,9 +95,8 @@ # Radius of input LiDAR range (used for diagnostics of dynamic map loading) lidar_radius: 100.0 - # cspell: ignore degrounded - # A flag for using scan matching score based on de-grounded LiDAR scan - estimate_scores_for_degrounded_scan: false + # A flag for using scan matching score based on no ground LiDAR scan + estimate_scores_by_no_ground_points: false # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 From 7cf64d8b9efedf684a3de1c4655d1cf80b8e4e9b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jan 2024 17:16:45 +0900 Subject: [PATCH 60/75] fix(tracking_object_merger): fix bug and rework parameters (#823) fix(tracking_object_merger): fix bug and use param file Signed-off-by: kminoda --- .../tracking_object_merger/decorative_tracker_merger.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml index 13369d5422..e4ea2becd7 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml @@ -23,4 +23,4 @@ # logging enable_logging: false - log_file_path: "/tmp/decorative_tracker_merger.log" + logging_file_path: "/tmp/decorative_tracker_merger.log" From 864b9270979a07ba65cd5e054854b3554fe33440 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 30 Jan 2024 16:02:40 +0900 Subject: [PATCH 61/75] refactor(tier4_map_lcomponent): use map.launch.xml instead of map.launch.py (#826) Signed-off-by: Yamato Ando --- .../launch/components/tier4_map_component.launch.xml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 3062a6cedd..187c63b7c7 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -1,8 +1,10 @@ - - + + + + From 7837d1f039f2639e5e9ec36102a42709387fa5ef Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 31 Jan 2024 10:05:51 +0900 Subject: [PATCH 62/75] feat(start_planner): add collision check distances for shift and geometric pull out (#832) * Add collision check distances for shift and geometric pull out Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_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/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 27ce630f1a..154c4b1e0b 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 @@ -14,6 +14,7 @@ # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: true + shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5 @@ -23,6 +24,7 @@ maximum_curvature: 0.07 # geometric pull out enable_geometric_pull_out: true + geometric_collision_check_distance_from_end: 0.0 divide_pull_out_path: true geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 From f3caadeb2b81fdff8c47aae1547a23bffcd6a01b Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 31 Jan 2024 19:28:58 +0900 Subject: [PATCH 63/75] chore(ground_segmentation): add default params (#831) Signed-off-by: badai-nguyen Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- .../ground_segmentation/ground_segmentation.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index b367fef386..4c58c066ed 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -30,3 +30,6 @@ detection_range_z_max: 2.5 elevation_grid_mode: true use_recheck_ground_cluster: true + low_priority_region_x: -20.0 + center_pcl_shift: 0.0 + radial_divider_angle_deg: 1.0 From 862cc696ca5eb63c3d7cf40c0a0579b023780fac Mon Sep 17 00:00:00 2001 From: Vincent Richard Date: Wed, 31 Jan 2024 20:55:39 +0900 Subject: [PATCH 64/75] feat(autoware_launch): set default vehicle/sensor models to sample ones (#768) Signed-off-by: Vincent Richard --- autoware_launch/launch/autoware.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 4 ++-- autoware_launch/launch/logging_simulator.launch.xml | 4 ++-- autoware_launch/launch/planning_simulator.launch.xml | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index a2cd12b2c1..7de7741be2 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index d920584c6c..4d978dc3fa 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index a2b66e91ed..57cbc38af6 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -2,8 +2,8 @@ - - + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 030299f5af..d19c7308f0 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -2,8 +2,8 @@ - - + + From b7880fea1a03e86874a348ea6511024b08e3168c Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 31 Jan 2024 22:04:14 +0900 Subject: [PATCH 65/75] chore(object_velocity_splitter): rework parameters (#820) chore(object_velocity_splitter): add config Signed-off-by: kminoda --- .../object_velocity_splitter_radar.param.yaml | 3 +++ .../object_velocity_splitter_radar_fusion.param.yaml | 3 +++ .../components/tier4_perception_component.launch.xml | 8 ++++++++ 3 files changed, 14 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml new file mode 100644 index 0000000000..c6351bea72 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + velocity_threshold: 5.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml new file mode 100644 index 0000000000..6a40ac9616 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar_fusion.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + velocity_threshold: 4.5 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 8636141685..2940bd614e 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -88,6 +88,14 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml" /> + + Date: Thu, 1 Feb 2024 10:41:42 +0900 Subject: [PATCH 66/75] refactor(map_projection_loader): rework parameters (#839) * Added launch argument map_projection_loader_param_path to tier4_map_component.launch.xml Copied map_projection_loader.launch.xml from universe Signed-off-by: TaikiYamada4 * style(pre-commit): autofix --------- Signed-off-by: TaikiYamada4 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/config/map/map_projection_loader.param.yaml | 4 ++++ .../launch/components/tier4_map_component.launch.xml | 1 + 2 files changed, 5 insertions(+) create mode 100644 autoware_launch/config/map/map_projection_loader.param.yaml diff --git a/autoware_launch/config/map/map_projection_loader.param.yaml b/autoware_launch/config/map/map_projection_loader.param.yaml new file mode 100644 index 0000000000..6ec300309a --- /dev/null +++ b/autoware_launch/config/map/map_projection_loader.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + map_projector_info_path: $(var map_projector_info_path) + lanelet2_map_path: $(var lanelet2_map_path) diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 187c63b7c7..455b848c63 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -8,5 +8,6 @@ + From ec4491819c77dc751c06f99b5fbeb5264d4e020b Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Thu, 1 Feb 2024 13:00:35 +0900 Subject: [PATCH 67/75] fix(autoware_launch): add config file (#829) * fix(autoware_launch): add config file Signed-off-by: scepter914 * style(pre-commit): autofix --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../radar_crossing_objects_noise_filter.param.yaml | 4 ++++ .../launch/components/tier4_perception_component.launch.xml | 6 +++++- 2 files changed, 9 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml new file mode 100644 index 0000000000..f52edf641f --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + angle_threshold: 1.2210 + velocity_threshold: 1.5 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 2940bd614e..a84911a414 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -80,7 +80,11 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml" /> + Date: Thu, 1 Feb 2024 16:28:11 +0900 Subject: [PATCH 68/75] refactor(ndt_scan_matcher): hierarchize parameters (#830) * refactor(ndt_scan_matcher): hierarchize parameters Signed-off-by: Yamato Ando * add new lines Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../localization/ndt_scan_matcher.param.yaml | 158 ++++++++++-------- 1 file changed, 85 insertions(+), 73 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index d4c49b7e8e..144449ce75 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -1,102 +1,114 @@ /**: ros__parameters: - # Vehicle reference frame - base_frame: "base_link" + frame: + # Vehicle reference frame + base_frame: "base_link" - # NDT reference frame - ndt_base_frame: "ndt_base_link" + # NDT reference frame + ndt_base_frame: "ndt_base_link" - # map frame - map_frame: "map" + # Map frame + map_frame: "map" - # Subscriber queue size - input_sensor_points_queue_size: 1 - # The maximum difference between two consecutive - # transformations in order to consider convergence - trans_epsilon: 0.01 + ndt: + # The maximum difference between two consecutive + # transformations in order to consider convergence + trans_epsilon: 0.01 - # The newton line search maximum step length - step_size: 0.1 + # The newton line search maximum step length + step_size: 0.1 - # The ND voxel grid resolution - resolution: 2.0 + # The ND voxel grid resolution + resolution: 2.0 - # The number of iterations required to calculate alignment - max_iterations: 30 + # The number of iterations required to calculate alignment + max_iterations: 30 - # Converged param type - # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD - converged_param_type: 1 + # Number of threads used for parallel computing + num_threads: 4 - # If converged_param_type is 0 - # Threshold for deciding whether to trust the estimation result - converged_param_transform_probability: 3.0 + regularization: + enable: false - # If converged_param_type is 1 - # Threshold for deciding whether to trust the estimation result - converged_param_nearest_voxel_transformation_likelihood: 2.3 + # Regularization scale factor + scale_factor: 0.01 - # The number of particles to estimate initial pose - initial_estimate_particles_num: 200 - # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). - # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. - # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. - n_startup_trials: 20 + initial_pose_estimation: + # The number of particles to estimate initial pose + particles_num: 200 - # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] - lidar_topic_timeout_sec: 1.0 + # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). + # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. + # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. + n_startup_trials: 20 - # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] - initial_pose_timeout_sec: 1.0 - # Tolerance of distance difference between two initial poses used for linear interpolation. [m] - initial_pose_distance_tolerance_m: 10.0 + validation: + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] + lidar_topic_timeout_sec: 1.0 - # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100.0 + # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] + initial_pose_timeout_sec: 1.0 - # Number of threads used for parallel computing - num_threads: 4 + # Tolerance of distance difference between two initial poses used for linear interpolation. [m] + initial_pose_distance_tolerance_m: 10.0 - # The covariance of output pose - # Note that this covariance matrix is empirically derived - output_pose_covariance: - [ - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, - ] + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100.0 - # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) - use_covariance_estimation: false - # Offset arrangement in covariance estimation [m] - # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. - initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] - initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + score_estimation: + # Converged param type + # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD + converged_param_type: 1 - # Regularization switch - regularization_enabled: false + # If converged_param_type is 0 + # Threshold for deciding whether to trust the estimation result + converged_param_transform_probability: 3.0 - # Regularization scale factor - regularization_scale_factor: 0.01 + # If converged_param_type is 1 + # Threshold for deciding whether to trust the estimation result + converged_param_nearest_voxel_transformation_likelihood: 2.3 - # Dynamic map loading distance - dynamic_map_loading_update_distance: 20.0 + # Scan matching score based on no ground LiDAR scan + no_ground_points: + enable: false - # Dynamic map loading loading radius - dynamic_map_loading_map_radius: 150.0 + # If lidar_point.z - base_link.z <= this threshold , the point will be removed + z_margin_for_ground_removal: 0.8 - # Radius of input LiDAR range (used for diagnostics of dynamic map loading) - lidar_radius: 100.0 - # A flag for using scan matching score based on no ground LiDAR scan - estimate_scores_by_no_ground_points: false + covariance: + # The covariance of output pose + # Note that this covariance matrix is empirically derived + output_pose_covariance: + [ + 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, + ] - # If lidar_point.z - base_link.z <= this threshold , the point will be removed - z_margin_for_ground_removal: 0.8 + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) + covariance_estimation: + enable: false + + # Offset arrangement in covariance estimation [m] + # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. + initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] + initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + + + dynamic_map_loading: + # Dynamic map loading distance + update_distance: 20.0 + + # Dynamic map loading loading radius + map_radius: 150.0 + + # Radius of input LiDAR range (used for diagnostics of dynamic map loading) + lidar_radius: 100.0 From a72fe01df9de03dea774f89dfbf50a4063b9998f Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 1 Feb 2024 17:03:48 +0900 Subject: [PATCH 69/75] chore(twist2accel): rework parameters (#842) Added twist2accel.param.yaml Signed-off-by: Shintaro SAKODA --- autoware_launch/config/localization/twist2accel.param.yaml | 4 ++++ .../launch/components/tier4_localization_component.launch.xml | 1 + 2 files changed, 5 insertions(+) create mode 100644 autoware_launch/config/localization/twist2accel.param.yaml diff --git a/autoware_launch/config/localization/twist2accel.param.yaml b/autoware_launch/config/localization/twist2accel.param.yaml new file mode 100644 index 0000000000..e58e029248 --- /dev/null +++ b/autoware_launch/config/localization/twist2accel.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + use_odom: true + accel_lowpass_gain: 0.9 diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 7ec292a381..70170a5fef 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -25,6 +25,7 @@ + From 14d144c3e909dda2c989ee42bed8b549c281d4c2 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 1 Feb 2024 17:43:43 +0900 Subject: [PATCH 70/75] feat(detection): add container option (#834) feat: use pointcloud_container Signed-off-by: kminoda --- .../lidar_model/detection_class_remapper.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml index ed378ffa44..baea087c96 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml @@ -29,9 +29,9 @@ max_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS + 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE From e27368b16fca69694d0b11f5dc5caed8377e770d Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Thu, 1 Feb 2024 21:42:57 +0300 Subject: [PATCH 71/75] feat: update rviz splash and vehicle UI display (#836) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/autoware.rviz | 92 ++++-------------------- autoware_launch/rviz/image/autoware.png | Bin 600002 -> 34941 bytes 2 files changed, 15 insertions(+), 77 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 064f87d3ff..4301034e74 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -58,58 +58,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_plugins/SteeringAngle - Enabled: true - Name: SteeringAngle - Scale: 17 - Text Color: 25; 255; 240 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/steering_status - Value: true - Value height offset: 0 - - Class: rviz_plugins/ConsoleMeter - Enabled: true - Name: ConsoleMeter - Scale: 3 - Text Color: 25; 255; 240 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Value height offset: 0 - - Class: rviz_plugins/AccelerationMeter - Enabled: false - Name: AccelerationMeter - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/acceleration - - Alpha: 0.999 - Class: rviz_plugins/VelocityHistory - Color Border Vel Max: 3 - Constant Color: - Color: 255; 255; 255 - Value: true - Enabled: true - Name: VelocityHistory - Scale: 0.30000001192092896 - Timeout: 10 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Alpha: 0.30000001192092896 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -296,27 +244,22 @@ Visualization Manager: Value: true Wave Color: 255; 255; 255 Wave Velocity: 40 - - Class: rviz_plugins/MaxVelocity + - Class: awf_2d_overlay_vehicle/SignalDisplay Enabled: true - Name: MaxVelocity - Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity - Value: true - - Class: rviz_plugins/TurnSignal - Enabled: true - Name: TurnSignal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/turn_indicators_status + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 175 + Left: 10 + Name: SignalDisplay + Signal Color: 94; 130; 255 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: 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zLmohK%uQrS`{%$fJALirCRbU{Plr3+Qi=GQCR?)R%Q9fYkcz!p<}A_krS|$K<;kM^Pg`fvuA8=t z2LmnMAFLm>wEaMwCmuMnW;8CdqOm24r6`@?{ipqSfX9ATT0TjCpymaSAnaN%>fivE>)2uBBnlYB{H}snaX$_N^{uBgxvg zp4_JzAjt)Db>9r&#s?oEQ3Cr(P&ae#Y6XNi@=@~xn}IYY-qvHVSNqxiJ}z%fHya6c zP=G)HPt&}00@i@&Q-`Pdx(CrX5)jCWxgBx<~25XO1)j} zXtfguw^~={`3RgurZ!>DCNt1+hsDI0C&wp}hvw%;uBK#-VS;G?Kwv?_V9)lS*@^vI zq9jeYju^1A2?9nKupqeu*j~AOM!`Vyk#$FZ)rXGsaQqHNcoK1Q8B)8Qf+|k(sf_8 z`dKSfr+8@BZ`5BfwV$OY07(4t{&-f{xZ?-5^b5oyP?}-FiZQEhwAqWEk<%yaV^N#rq#{UoIq{~y9TovOk$izsjK@;q*S7MWsv8D ziPd7;$|h9Wxl{Y4RKPR`862`u$(b>oscF*uzH+I>?%lp=<(1PER3g15nLr&VQdY+H z#20fA;m*`0^ Date: Fri, 2 Feb 2024 08:18:55 +0900 Subject: [PATCH 72/75] chore(image_projection_based_fusion): rework parameters (#824) chore(image_projection_based_fusion): use config Signed-off-by: kminoda --- .../detection/lidar_model/pointpainting.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) 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 21d31f2163..8fb88da291 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 @@ -1,5 +1,12 @@ /**: ros__parameters: + trt_precision: fp16 + build_only: false + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + model_params: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] From 4abad00b40d312f1f37f9fbb3d9bfd2cfdd6732e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 2 Feb 2024 19:51:16 +0900 Subject: [PATCH 73/75] feat(map_based_prediction): consider crosswalks signals (#849) add param Signed-off-by: Yuki Takagi --- .../prediction/map_based_prediction.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 fdd64174de..ed1193f1c4 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 @@ -19,6 +19,7 @@ use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds + use_crosswalk_signal: true # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 From 5d5b3a6e1c90c443eebe14bfb0fb03f4780b09cf Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 2 Feb 2024 20:09:02 +0900 Subject: [PATCH 74/75] fix(planning_launch): align parameters to real vehicle (#848) update param Signed-off-by: Yuki Takagi --- .../motion_velocity_smoother.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..4b6693f150 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -9,17 +9,17 @@ # -- curve parameters -- # common parameters - curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + curvature_calculation_distance: 2.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] - min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] + min_curve_velocity: 2.0 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] # steering angle rate limit parameters enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. - max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + max_steering_angle_rate: 11.5 # maximum steering angle rate [degree/s] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] From bee8c48c771a013a8b3fd54eb68cf3b38ddcf2f6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 5 Feb 2024 17:08:22 +0900 Subject: [PATCH 75/75] feat(obstacle_cruise_planner): yield function for ocp (#837) * add params for yield Signed-off-by: Daniel Sanchez * param name change Signed-off-by: Daniel Sanchez * add params Signed-off-by: Daniel Sanchez * refactoring Signed-off-by: Daniel Sanchez * fix typo, tuning Signed-off-by: Daniel Sanchez * update parameters Signed-off-by: Daniel Sanchez * delete unused param Signed-off-by: Daniel Sanchez * set cruise planner as default for testing Signed-off-by: Daniel Sanchez * add param for stopped obj speed threshold Signed-off-by: Daniel Sanchez * change back param Signed-off-by: Daniel Sanchez * set default false Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 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 1ac32ba562..2ff87e9b01 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 @@ -95,7 +95,12 @@ obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] 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 + 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 + stopped_obstacle_velocity_threshold: 0.5 slow_down: max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2