From b58eff29ce9fa8afa8b35bc9e7dde8492cda2f23 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 25 Jan 2024 14:40:00 +0900 Subject: [PATCH 01/13] 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 02/13] 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 03/13] 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 04/13] 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 05/13] 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 06/13] 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 07/13] 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 08/13] 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 09/13] 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 10/13] 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 11/13] 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 12/13] 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 13/13] 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