From 301cf492b47a425900640410c40c6bff304c9a15 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 4 Aug 2023 14:34:02 +0900 Subject: [PATCH 001/130] feat(start_planner): use stop objects in pull out lanes for collision check (#498) Signed-off-by: kosuke55 --- .../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 5ae5c99ff8..60f2927440 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 @@ -6,6 +6,7 @@ th_stopped_time: 1.0 collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 + th_moving_object_velocity: 1.0 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false From 30033251e329ebb487d4517a4d47e433a144f958 Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Fri, 4 Aug 2023 17:36:46 +0800 Subject: [PATCH 002/130] feat(rviz): add acceleration meter for debugging which is disabled by default (#499) * feat: add acceleration meter for debugging, disabled by default; https://github.com/autowarefoundation/autoware.universe/pull/4506 Signed-off-by: Owen-Liuyuxuan * not directly setting pixel numbers in rviz for display on screen with various resolutions Signed-off-by: Owen-Liuyuxuan --------- Signed-off-by: Owen-Liuyuxuan Co-authored-by: Owen-Liuyuxuan --- autoware_launch/rviz/autoware.rviz | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 0dad17aaf9..915a296d79 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -86,6 +86,15 @@ Visualization Manager: 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 From 230a91333889be113fbcb110f2687a02ff664779 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 5 Aug 2023 10:51:35 +0900 Subject: [PATCH 003/130] feat(autoware_launch): add successive_num_to_exit_dynamic_avoidance_condition in dynamic_avoidance (#484) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_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/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 336879185f..e87e6ab546 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 @@ -18,6 +18,7 @@ min_obstacle_vel: 0.0 # [m/s] successive_num_to_entry_dynamic_avoidance_condition: 5 + successive_num_to_exit_dynamic_avoidance_condition: 1 min_obj_lat_offset_to_ego_path: 0.0 # [m] max_obj_lat_offset_to_ego_path: 1.0 # [m] From ec2fd767845e3d90be2a5457a692c9db5adc2d36 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon, 7 Aug 2023 02:29:00 +0900 Subject: [PATCH 004/130] feat(lane_change): remove an unused parameter (#501) --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 - 1 file changed, 1 deletion(-) 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 1f075993aa..7408456d3e 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 @@ -8,7 +8,6 @@ lane_change_finish_judge_buffer: 2.0 # [m] lane_changing_lateral_jerk: 0.5 # [m/s3] - lateral_acc_switching_velocity: 4.0 #[m/s] minimum_lane_changing_velocity: 2.78 # [m/s] prediction_time_resolution: 0.5 # [s] From a3e28d1058a8b15612b049d8a9c520775f655392 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 7 Aug 2023 10:35:54 +0900 Subject: [PATCH 005/130] feat(autoware_launch): add cut out parameters for dynamic avoidance (#500) 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 e87e6ab546..a0571be4aa 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 @@ -27,6 +27,10 @@ min_time_to_start_cut_in: 1.0 # [s] min_lon_offset_ego_to_object: 0.0 # [m] + cut_out_object: + max_time_from_outside_ego_path: 0.5 # [s] + min_object_lat_vel: 0.3 # [m/s] + crossing_object: min_object_vel: 1.0 max_object_angle: 1.05 From 75eb84898036e81124f09471fee37690ee9d0362 Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Mon, 7 Aug 2023 12:57:46 +0300 Subject: [PATCH 006/130] refactor(autoware_launch): add an option for filtering and validation (#479) * init commit Signed-off-by: ismetatabay * style(pre-commit): autofix --------- Signed-off-by: ismetatabay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../components/tier4_perception_component.launch.xml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 0dbbee6065..65b8ac20bd 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -2,6 +2,12 @@ + + @@ -11,6 +17,8 @@ + + From e0c4af68cf39dd6bad61cee0052382d2a1a92e03 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Mon, 7 Aug 2023 13:03:56 +0300 Subject: [PATCH 007/130] feat(routing_no_drivable_lane_when_module_enabled): add solution for routing no_drivable_lane only when module enabled (#457) * feat(routing_no_drivable_lane_when_module_enabled): add proposed solution Signed-off-by: AhmedEbrahim * style(pre-commit): autofix * feat(routing_no_drivable_lane_when_module_enabled): improving comments regarding new parameter Signed-off-by: AhmedEbrahim --------- Signed-off-by: AhmedEbrahim Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../mission_planning/mission_planner/mission_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml index d596eb9816..98c28344ea 100644 --- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -8,3 +8,4 @@ enable_correct_goal_pose: false reroute_time_threshold: 10.0 minimum_reroute_length: 30.0 + consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. From e8069c6d6dc2b2ddf55451076d36df776fc20132 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 8 Aug 2023 10:50:02 +0900 Subject: [PATCH 008/130] feat(autoware_launch): update dynamic_avoidance parameters (#503) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 12 +++++++----- 1 file changed, 7 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 a0571be4aa..896c44c9ce 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 @@ -28,23 +28,25 @@ min_lon_offset_ego_to_object: 0.0 # [m] cut_out_object: - max_time_from_outside_ego_path: 0.5 # [s] + max_time_from_outside_ego_path: 2.0 # [s] min_object_lat_vel: 0.3 # [m/s] crossing_object: - min_object_vel: 1.0 - max_object_angle: 1.05 + min_overtaking_object_vel: 1.0 + max_overtaking_object_angle: 1.05 + min_oncoming_object_vel: 0.0 + max_oncoming_object_angle: 0.523 front_object: max_object_angle: 0.785 drivable_area_generation: - lat_offset_from_obstacle: 1.0 # [m] + lat_offset_from_obstacle: 0.8 # [m] max_lat_offset_to_avoid: 0.5 # [m] # for same directional object overtaking_object: - max_time_to_collision: 10.0 # [s] + max_time_to_collision: 40.0 # [s] start_duration_to_avoid: 2.0 # [s] end_duration_to_avoid: 4.0 # [s] duration_to_hold_avoidance: 3.0 # [s] From 1bd48089a7830e2fb9744e668946ee9421937e0a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 8 Aug 2023 22:07:57 +0900 Subject: [PATCH 009/130] feat(avoidance): enable avoidance cancel (#476) 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 cff48985a2..e751de2bb4 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 @@ -11,10 +11,10 @@ # avoidance module common setting enable_bound_clipping: false - enable_update_path_when_object_is_gone: false enable_force_avoidance_for_stopped_vehicle: false enable_yield_maneuver: true enable_yield_maneuver_during_shifting: false + enable_cancel_maneuver: true disable_path_update: false # drivable area setting From dfba24c2ad67e4cc8e3fa00ada0257da7d3a3913 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 9 Aug 2023 03:56:34 +0900 Subject: [PATCH 010/130] feat(autoware_launch): use hatched road markings in dynamic avoidance (#504) * feat(autoware_launch): add use_hatched_road_markings in dynamic_avoidance Signed-off-by: Takayuki Murooka * add parameters Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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 896c44c9ce..377c0a8c21 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 @@ -3,6 +3,7 @@ dynamic_avoidance: common: enable_debug_info: true + use_hatched_road_markings: true # avoidance is performed for the object type with true target_object: @@ -43,6 +44,8 @@ drivable_area_generation: lat_offset_from_obstacle: 0.8 # [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 # [-] # for same directional object overtaking_object: @@ -53,6 +56,6 @@ # for opposite directional object oncoming_object: - max_time_to_collision: 15.0 # [s] + 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] end_duration_to_avoid: 0.0 # [s] From c5b3a44267f59a2b42cafae3ede6a393173e8850 Mon Sep 17 00:00:00 2001 From: Yusuke Muramatsu Date: Wed, 9 Aug 2023 23:26:42 +0900 Subject: [PATCH 011/130] feat(tier4_perception_launch): update pointpainting param (#506) Signed-off-by: yukke42 --- .../detection/lidar_model/pointpainting.param.yaml | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) 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 56346b5a3e..e1be5426cb 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 @@ -1,15 +1,16 @@ /**: ros__parameters: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 9 # x, y, z, time-lag and car, pedestrian, bicycle + 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: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0] - voxel_size: [0.32, 0.32, 10.0] + 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: 14 + 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: 0.5 + circle_nms_dist_threshold: 0.3 iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 From 786e8af5f1b073d36603b60f8b010c2ed202d4d3 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 10 Aug 2023 11:05:41 +0900 Subject: [PATCH 012/130] feat(map_projection_loader): add map_projection_loader (#483) feat(map_loader): add map_projection_loader Signed-off-by: kminoda --- autoware_launch/config/map/lanelet2_map_loader.param.yaml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml index 9abbaf2901..24d2b0e8ed 100755 --- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -1,7 +1,3 @@ /**: ros__parameters: - lanelet2_map_projector_type: MGRS # Options: MGRS, UTM, local - latitude: 40.81187906 # Latitude of map_origin, using in UTM - longitude: 29.35810110 # Longitude of map_origin, using in UTM - center_line_resolution: 5.0 # [m] From 1978d63d85a28f8d053b1ebfd4199804526a718d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 10 Aug 2023 12:05:06 +0900 Subject: [PATCH 013/130] feat(avoidance): make it selectable avoidance policy (#505) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 19 ++++++++++++++++--- 1 file changed, 16 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 e751de2bb4..f27429ae81 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 @@ -175,10 +175,23 @@ max_distance: 20.0 # [m] stop_buffer: 1.0 # [m] - constraints: - # vehicle slows down under longitudinal constraints - use_constraints_for_decel: true # [-] + policy: + # policy for vehicle slow down behavior. select "best_effort" or "reliable". + # "best_effort": slow down deceleration & jerk are limited by constraints. + # but there is a possibility that the vehicle can't stop in front of the vehicle. + # "reliable": insert stop or slow down point with ignoring decel/jerk constraints. + # make it possible to increase chance to avoid but uncomfortable deceleration maybe happen. + deceleration: "best_effort" # [-] + # policy for avoidance lateral margin. select "best_effort" or "reliable". + # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal + # margin to avoid. + # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid + # with expected lateral margin. + lateral_margin: "best_effort" # [-] + # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. + use_shorten_margin_immediately: true # [-] + constraints: # lateral constraints lateral: velocity: [1.0, 1.38, 11.1] # [m/s] From 975fe46a7421bb03df7f4c39d6033289ea3a6ef0 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 12 Aug 2023 13:00:06 +0900 Subject: [PATCH 014/130] feat(autoware_launch): add polygon_generation_method in dynamic_avoidance (#508) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 2 ++ 1 file changed, 2 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 377c0a8c21..fad859ac16 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 @@ -42,6 +42,8 @@ max_object_angle: 0.785 drivable_area_generation: + polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" + lat_offset_from_obstacle: 0.8 # [m] max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] From 05d1914b791c5a137e7ca12c9a54f60d704660c9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 15 Aug 2023 10:51:48 +0900 Subject: [PATCH 015/130] feat(lane_departure_checker): add road_border departure checker (#511) add param Signed-off-by: kyoichi-sugahara --- .../lane_departure_checker/lane_departure_checker.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 59e25cbc5d..008832b1ca 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -7,6 +7,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false + road_border_departure_checker: false # Core footprint_margin_scale: 1.0 From b84b8cb15035d52ac8fd1346d3948f57b4a31a28 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 15 Aug 2023 10:59:41 +0900 Subject: [PATCH 016/130] feat(system_error_monitor): check lateral deviation in sim (#516) Signed-off-by: satoshi-ota --- .../system_error_monitor.planning_simulation.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 9708456df4..2c5fe6e8f5 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 @@ -19,6 +19,7 @@ autonomous_driving: /autoware/control/autonomous_driving/node_alive_monitoring: default /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default From 05f55d38ad852b166276be2a14b99c9bf60e31fa Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 15 Aug 2023 11:32:11 +0900 Subject: [PATCH 017/130] feat(autoware_launch): add enable_pub_extra_debug_marker in obstacle_avoidance_planner (#512) Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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 f681398717..bb64006656 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 @@ -9,6 +9,7 @@ debug: # flag to publish enable_pub_debug_marker: true # publish debug marker + enable_pub_extra_debug_marker: false # publish extra debug marker # flag to show enable_debug_info: false @@ -77,7 +78,7 @@ # avoidance avoidance: - max_bound_fixing_time: 3.0 # [s] + max_bound_fixing_time: 1.0 # [s] max_longitudinal_margin_for_bound_violation: 1.0 # [m] max_avoidance_cost: 0.5 # [m] avoidance_cost_margin: 0.0 # [m] From 6ea8c13b24f7762c2944b55fe9988c5bcf56a360 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 15 Aug 2023 14:56:19 +0900 Subject: [PATCH 018/130] feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid (#513) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 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 f27429ae81..7f2e92419b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -154,7 +154,8 @@ lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] lateral_avoid_check_threshold: 0.1 # [m] - road_shoulder_safety_margin: 0.3 # [m] + soft_road_shoulder_margin: 0.3 # [m] + hard_road_shoulder_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters From 01c14b0886845e77fe43f7494e6b57f41d06158d Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 15 Aug 2023 19:31:20 +0900 Subject: [PATCH 019/130] feat(control_validator): measure predicted path deviation from trajectory (#509) * update launcher Signed-off-by: kyoichi-sugahara * add config and modify launch file Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix * feat(lane_departure_checker): add road_border departure checker (#511) add param Signed-off-by: kyoichi-sugahara * feat(system_error_monitor): check lateral deviation in sim (#516) Signed-off-by: satoshi-ota * restore rviz config change Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Signed-off-by: satoshi-ota Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../control_validator/control_validator.param.yaml | 14 ++++++++++++++ .../components/tier4_control_component.launch.xml | 1 + 2 files changed, 15 insertions(+) create mode 100644 autoware_launch/config/control/control_validator/control_validator.param.yaml diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml new file mode 100644 index 0000000000..9ce677b2c2 --- /dev/null +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + + publish_diag: true # if true, diagnostic msg is published + + # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR. + # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if + # the next predicted_path is valid.) + diag_error_count_threshold: 0 + + display_on_terminal: true # show error msg on terminal + + thresholds: + max_distance_deviation: 1.0 diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 7b3169eacd..8b29135048 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -35,6 +35,7 @@ + From 857a19e9f3ef2211bdcd5cd35367c2b23be544c1 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Tue, 15 Aug 2023 20:07:11 +0900 Subject: [PATCH 020/130] chore(tier4_simulator_component): add traffic light arbiter param path (#502) Signed-off-by: Tomohito Ando --- .../launch/components/tier4_simulator_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index bd191f7a56..f243414555 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -43,5 +43,6 @@ + From 11fdbccbd2b85b35718c6f1b3db893f585b27c39 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 18 Aug 2023 11:49:56 +0900 Subject: [PATCH 021/130] fix(ekf_localizer): fix parameter first capital letter (#519) Signed-off-by: kminoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 322325d239..4d3f5b9643 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: show_debug_info: false - enable_yaw_bias_estimation: True + enable_yaw_bias_estimation: true predict_frequency: 50.0 tf_rate: 50.0 extend_state_step: 50 From 3cf0e5539869d3d80e4f3470dd92c468f6850f30 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 20 Aug 2023 10:30:40 +0900 Subject: [PATCH 022/130] feat(start_planner): support freespace pull out (#514) Signed-off-by: kosuke55 --- .../start_planner/start_planner.param.yaml | 36 +++++++++++++++++++ 1 file changed, 36 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 60f2927440..bea78664c6 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 @@ -36,3 +36,39 @@ th_turn_signal_on_lateral_offset: 1.0 intersection_search_length: 30.0 length_ratio_for_turn_signal_deactivation_near_intersection: 0.5 + # freespace planner + freespace_planner: + enable_freespace_planner: true + end_pose_search_start_distance: 20.0 + end_pose_search_end_distance: 30.0 + end_pose_search_interval: 2.0 + freespace_planner_algorithm: "astar" # options: astar, rrtstar + velocity: 1.0 + vehicle_shape_margin: 1.0 + time_limit: 3000.0 + minimum_turning_radius: 5.0 + maximum_turning_radius: 5.0 + turning_radius_size: 1 + # search configs + search_configs: + theta_size: 144 + angle_goal_range: 6.0 + curve_weight: 1.2 + reverse_weight: 1.0 + lateral_goal_range: 0.5 + longitudinal_goal_range: 2.0 + # costmap configs + costmap_configs: + obstacle_threshold: 30 + # -- A* search Configurations -- + astar: + only_behind_solutions: false + use_back: false + distance_heuristic_weight: 1.0 + # -- RRT* search Configurations -- + rrtstar: + enable_update: true + use_informed_sampling: true + max_planning_time: 150.0 + neighbor_radius: 8.0 + margin: 1.0 From 58b45215b98ac879574fe496a10b439081db9b9a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 22 Aug 2023 13:43:11 +0900 Subject: [PATCH 023/130] feat(merge_from_private): use separate param (#521) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 927a6bfaaf..4e77e0591f 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 @@ -54,4 +54,5 @@ intersection_to_occlusion: true merge_from_private: + stop_line_margin: 3.0 stop_duration_sec: 1.0 From 9bdd7c5619298fa48279814b94428277e6da5d91 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 22 Aug 2023 15:14:56 +0900 Subject: [PATCH 024/130] feat(rviz): respawn rviz (#518) Signed-off-by: kosuke55 --- autoware_launch/launch/autoware.launch.xml | 11 ++++++++++- autoware_launch/launch/planning_simulator.launch.xml | 9 ++++++--- 2 files changed, 16 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f702747ec9..1a4fbb70f4 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -35,6 +35,7 @@ + @@ -108,6 +109,14 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 941399db7e..0a97454854 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -12,9 +12,6 @@ - - - @@ -22,6 +19,11 @@ + + + + + @@ -53,6 +55,7 @@ + From 563d1e69e6a363b092f12d9089f848988e18994c Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue, 22 Aug 2023 12:38:27 +0300 Subject: [PATCH 025/130] feat(autoware_launch): add use_raw_remote_control_command_input argument (#460) * update external_cmd_converter Signed-off-by: ismetatabay * update default value Signed-off-by: ismetatabay * update argument name Signed-off-by: ismetatabay * move enable_cmd_limit_filter argument to param file Signed-off-by: ismetatabay * update enable_cmd_filter default value Signed-off-by: ismetatabay --------- Signed-off-by: ismetatabay --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 522cc3a1ca..cc5aa910e5 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -3,7 +3,9 @@ update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 use_emergency_handling: false + check_external_emergency_heartbeat: false use_start_request: false + enable_cmd_limit_filter: true external_emergency_stop_heartbeat_timeout: 0.0 stop_hold_acceleration: -1.5 emergency_acceleration: -2.4 From ca94061d201424c5fedca063bca085a9d5d3422d Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 22 Aug 2023 19:49:42 +0900 Subject: [PATCH 026/130] feat(goal_planner): add extra front margin for collision check considering stopping distance (#520) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 * object_recognition_collision_check_margin: 0.6 Signed-off-by: kosuke55 * rename args and params Signed-off-by: kosuke55 * add comments Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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 eaa103bff7..cd2bc6168d 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 @@ -31,7 +31,8 @@ # object recognition object_recognition: use_object_recognition: true - object_recognition_collision_check_margin: 1.0 + 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 # pull over pull_over: From 3e0ea0acbe80bdc0b52666f932d6c8f86b4de0a4 Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue, 22 Aug 2023 19:40:27 +0300 Subject: [PATCH 027/130] fix(autoware_launch): correct prediction_time_horizon default value (#523) correct prediction_time_horizon value Signed-off-by: ismetatabay --- .../prediction/map_based_prediction.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 eae747ce38..cb9a61b600 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 @@ -1,7 +1,7 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: 7.8 #[s] + prediction_time_horizon: 10.0 #[s] prediction_sampling_delta_time: 0.5 #[s] min_velocity_for_map_based_prediction: 1.39 #[m/s] min_crosswalk_user_velocity: 1.39 #[m/s] From 438d6922e658812625de3f788235d946e610ec78 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 23 Aug 2023 12:16:42 +0900 Subject: [PATCH 028/130] feat(vehicle_cmd_gate): adaptive filter limit (#510) * feat(vehicle_cmd_gate): adaptive filter limit Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../vehicle_cmd_gate.param.yaml | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index cc5aa910e5..92844c61f6 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -14,15 +14,17 @@ stop_check_duration: 1.0 nominal: vel_lim: 25.0 - lon_acc_lim: 5.0 - lon_jerk_lim: 5.0 - lat_acc_lim: 5.0 - lat_jerk_lim: 5.0 - actual_steer_diff_lim: 1.0 + reference_speed_points: [20.0, 30.0] + lon_acc_lim: [5.0, 4.0] + lon_jerk_lim: [5.0, 4.0] + lat_acc_lim: [5.0, 4.0] + lat_jerk_lim: [7.0, 6.0] + actual_steer_diff_lim: [1.0, 0.8] on_transition: vel_lim: 50.0 - lon_acc_lim: 1.0 - lon_jerk_lim: 0.5 - lat_acc_lim: 2.0 - lat_jerk_lim: 7.0 - actual_steer_diff_lim: 1.0 + reference_speed_points: [20.0, 30.0] + lon_acc_lim: [1.0, 0.9] + lon_jerk_lim: [0.5, 0.4] + lat_acc_lim: [2.0, 1.8] + lat_jerk_lim: [7.0, 6.0] + actual_steer_diff_lim: [1.0, 0.8] From b4a03f016b6e677abb937428fd93528f1dd3a02b Mon Sep 17 00:00:00 2001 From: keisuke <31088744+keiota@users.noreply.github.com> Date: Wed, 23 Aug 2023 13:49:55 +0900 Subject: [PATCH 029/130] fix(freespace_planner): fixed by adding parameters of RRTstar algorithm (#517) * fix(freespace_planner): add parameters of RRTstar algorithm * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara --- .../freespace_planner/freespace_planner.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index d6152c4f56..ffd99df533 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -37,3 +37,11 @@ only_behind_solutions: false use_back: true distance_heuristic_weight: 1.0 + + # -- RRT* search Configurations -- + rrtstar: + enable_update: true + use_informed_sampling: true + max_planning_time: 150.0 + neighbor_radius: 8.0 + margin: 0.1 From 407baae915682049408111d49f60ece14111d894 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 23 Aug 2023 23:02:38 +0900 Subject: [PATCH 030/130] refactor(safety_check): use safety check common param struct (#526) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 8 ++++++++ .../behavior_path_planner.param.yaml | 13 ------------- .../lane_change/lane_change.param.yaml | 12 ++++++++++++ 3 files changed, 20 insertions(+), 13 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 7f2e92419b..948fcaf829 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 @@ -146,6 +146,14 @@ safety_check_backward_distance: 100.0 # [m] safety_check_hysteresis_factor: 2.0 # [-] safety_check_ego_offset: 1.0 # [m] + # rss parameters + expected_front_deceleration: -1.0 # [m/ss] + expected_rear_deceleration: -1.0 # [m/ss] + rear_vehicle_reaction_time: 2.0 # [s] + rear_vehicle_safety_time_margin: 1.0 # [s] + lateral_distance_max_threshold: 2.0 # [m] + longitudinal_distance_min_threshold: 3.0 # [m] + longitudinal_velocity_delta_time: 0.8 # [s] # For avoidance maneuver avoidance: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index aa56edee2f..5de4c0d27b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -29,19 +29,6 @@ visualize_maximum_drivable_area: true - lateral_distance_max_threshold: 1.7 - longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 - - expected_front_deceleration: -1.0 - expected_rear_deceleration: -1.0 - - expected_front_deceleration_for_abort: -1.0 - expected_rear_deceleration_for_abort: -2.0 - - rear_vehicle_reaction_time: 2.0 - rear_vehicle_safety_time_margin: 1.0 - lane_following: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 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 7408456d3e..372ed9041c 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 @@ -26,6 +26,18 @@ min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 + # safety check + safety_check: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -1.0 + expected_front_deceleration_for_abort: -1.0 + expected_rear_deceleration_for_abort: -2.0 + rear_vehicle_reaction_time: 2.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 + # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0] From dd3f79f355e364d4f5bee9d387601aaa4c54ed06 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 24 Aug 2023 08:21:20 +0900 Subject: [PATCH 031/130] feat(autoware_launch): add hold stop threshold in obstacle_cruise_planner (#524) * feat(autoware_launch): add hold stop threshold in obstacle_cruise_planner Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 b525d2914a..cd32c57cbe 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 @@ -14,6 +14,8 @@ min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] + hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] + hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index From 84188bb16b1f701a25a16165e64c913bdf8188f0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 25 Aug 2023 09:05:01 +0900 Subject: [PATCH 032/130] fix(avoidance): avoidance shift line processing bug (#527) fix(avoidance): safety check chattering Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 5 +---- 1 file changed, 1 insertion(+), 4 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 948fcaf829..ff52b70eae 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 @@ -4,8 +4,6 @@ avoidance: resample_interval_for_planning: 0.3 # [m] resample_interval_for_output: 4.0 # [m] - detection_area_right_expand_dist: 0.0 # [m] - detection_area_left_expand_dist: 1.0 # [m] drivable_area_right_bound_offset: 0.0 # [m] drivable_area_left_bound_offset: 0.0 # [m] @@ -145,13 +143,12 @@ time_horizon: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] safety_check_hysteresis_factor: 2.0 # [-] - safety_check_ego_offset: 1.0 # [m] # rss parameters expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s] rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 2.0 # [m] + lateral_distance_max_threshold: 0.75 # [m] longitudinal_distance_min_threshold: 3.0 # [m] longitudinal_velocity_delta_time: 0.8 # [s] From 20d27d3502e31573cfa3203ca3ece353a58d1ff0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 25 Aug 2023 17:04:30 +0900 Subject: [PATCH 033/130] fix(smoother): fix smoother jerk weight params (#528) Signed-off-by: satoshi-ota --- .../motion_velocity_smoother/JerkFiltered.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml index a6906b7117..f74ca045f5 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: - jerk_weight: 0.1 # weight for "smoothness" cost for jerk - over_v_weight: 10000.0 # weight for "over speed limit" cost - over_a_weight: 500.0 # weight for "over accel limit" cost - over_j_weight: 200.0 # weight for "over jerk limit" cost + jerk_weight: 10.0 # weight for "smoothness" cost for jerk + over_v_weight: 100000.0 # weight for "over speed limit" cost + over_a_weight: 5000.0 # weight for "over accel limit" cost + over_j_weight: 2000.0 # weight for "over jerk limit" cost jerk_filter_ds: 0.1 # resampling ds for jerk filter From 03ed82b90d536b96d5748735e6f2a7bc5214ce43 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 25 Aug 2023 23:01:09 +0900 Subject: [PATCH 034/130] feat(autoware_launch): add suppress_sudden_obstacle_stop in obstacle_cruise_planner (#525) * feat(autoware_launch): add suppress_sudden_obstacle_stop in obstacle_cruise_planner Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 cd32c57cbe..b71c2d667c 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 @@ -20,6 +20,7 @@ nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index min_behavior_stop_margin: 3.0 # [m] + suppress_sudden_obstacle_stop: true stop_obstacle_type: unknown: true From 86ce74b35bc7dbff23ad23bc540e5ea9d3756b0d Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Sat, 26 Aug 2023 09:00:19 +0900 Subject: [PATCH 035/130] refactor(map_based_prediction): update prediction yaml file (#531) update prediction yaml file Signed-off-by: yoshiri --- .../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 cb9a61b600..1f6def2491 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 @@ -11,7 +11,10 @@ sigma_yaw_angle_deg: 5.0 #[angle degree] object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] + # parameter for shoulder lane prediction + prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 + # parameters for lc prediction lane_change_detection: method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane" time_to_change_lane: From 42efcc33850f7e818ff8d9ebd8b64b56df7dea71 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sun, 27 Aug 2023 21:50:22 +0900 Subject: [PATCH 036/130] feat(avoidance): add time series hysteresis (#530) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 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 ff52b70eae..65623343bb 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 @@ -142,7 +142,8 @@ time_resolution: 0.5 # [s] time_horizon: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] - safety_check_hysteresis_factor: 2.0 # [-] + hysteresis_factor_expand_rate: 1.5 # [-] + hysteresis_factor_safe_count: 10 # [-] # rss parameters expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] From 1e1fb186e5672615dfd4b6aef8f0409a775e8de5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 29 Aug 2023 08:15:44 +0900 Subject: [PATCH 037/130] feat(avoidance): flexible avoidance safety check param (#529) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 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 65623343bb..c91ec0e88b 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 @@ -140,7 +140,8 @@ # collision check parameters check_all_predicted_path: false # [-] time_resolution: 0.5 # [s] - time_horizon: 10.0 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] hysteresis_factor_safe_count: 10 # [-] From 449bb6940fad16642734146dca04922fb767b96f Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 29 Aug 2023 19:31:26 +0900 Subject: [PATCH 038/130] feat(autoware_launch): set larger max_area for pedestrian with umbrella (#535) set larger max_area for pedestrian with umbrella Signed-off-by: yoshiri --- .../multi_object_tracker/data_association_matrix.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 69af202e7a..13f2220655 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -30,9 +30,9 @@ 36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRAILER - 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE - 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE - 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.50, #MOTORBIKE + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.50, #BICYCLE + 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 2.00, 2.00, 1.50] #PEDESTRIAN min_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 From 87021c6ce04e6fae68449969c4a20aa313bbbda6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 01:49:21 +0900 Subject: [PATCH 039/130] feat(autoware_launch): add min_longitudinal_polygon_margin and use object_path_base in dynamic_avoidance (#534) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 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 fad859ac16..fe30397683 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 @@ -2,7 +2,7 @@ ros__parameters: dynamic_avoidance: common: - enable_debug_info: true + enable_debug_info: false use_hatched_road_markings: true # avoidance is performed for the object type with true @@ -42,7 +42,9 @@ max_object_angle: 0.785 drivable_area_generation: - polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" + polygon_generation_method: "object_path_base" # choose "ego_path_base" and "object_path_base" + object_path_base: + min_longitudinal_polygon_margin: 3.0 # [m] lat_offset_from_obstacle: 0.8 # [m] max_lat_offset_to_avoid: 0.5 # [m] From 0bd22cd6c19c3f1f6874217121fbedf2a1d89642 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 08:45:34 +0900 Subject: [PATCH 040/130] feat(autoware_launch): add max_crosswalk_user_delta_yaw_threshold_for_lanelet in map_based_prediction (#536) Signed-off-by: Takayuki Murooka --- .../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 1f6def2491..31fae9c811 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 @@ -5,6 +5,7 @@ prediction_sampling_delta_time: 0.5 #[s] min_velocity_for_map_based_prediction: 1.39 #[m/s] min_crosswalk_user_velocity: 1.39 #[m/s] + max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s] dist_threshold_for_searching_lanelet: 3.0 #[m] delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad] sigma_lateral_offset: 0.5 #[m] From 321db8957cb06db842ac9a6677f7fa3573b44759 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Wed, 30 Aug 2023 13:46:51 +0900 Subject: [PATCH 041/130] chore: add default args for TLR models (#538) Signed-off-by: Shunsuke Miura --- .../launch/components/tier4_perception_component.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 65b8ac20bd..cf5b2dd98c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -93,5 +93,9 @@ + + + + From a46e5551ea17f7bfc752b5880ada95b2cfc8d1d9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 14:50:20 +0900 Subject: [PATCH 042/130] feat(autoware_launch): add no stop decision parameters in crosswalk (#537) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 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 4b0a1ffc43..0c12624f3b 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 @@ -42,7 +42,13 @@ 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) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering - max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. + + no_stop_decision: + max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. + min_acc: -1.0 # min acceleration [m/ss] + 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) 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 From d0e57332c5e0cb0e978f84f76f9531798dce75e1 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Aug 2023 15:39:01 +0900 Subject: [PATCH 043/130] feat(intersection): suppress intersection occlusion chattering (#533) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 4e77e0591f..e35215612a 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 @@ -48,6 +48,7 @@ denoise_kernel: 1.0 # [m] possible_object_bbox: [1.5, 2.5] # [m x m] ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h + stop_release_margin_time: 1.5 # [s] enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From c2201c21374f2c1fab0aa95d44943fb221f7bb91 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Aug 2023 17:43:48 +0900 Subject: [PATCH 044/130] feat(intersection): strict definition of stuck vehicle detection area (#532) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) 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 e35215612a..00df2e2ced 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 @@ -14,8 +14,7 @@ consider_wrong_direction_vehicle: false stuck_vehicle: use_stuck_stopline: true # stopline generated before the first conflicting area - stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. - stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) + stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h # enable_front_car_decel_prediction: false # By default this feature is disabled # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning From ef98f76e5a433cf37d56444d41ab2a0c7ea88792 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 31 Aug 2023 01:04:30 +0900 Subject: [PATCH 045/130] feat(autoware_launch): remove polygon_generation_method from dynamic_avoidance (#539) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 1 - 1 file changed, 1 deletion(-) 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 fe30397683..a05bdda099 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 @@ -42,7 +42,6 @@ max_object_angle: 0.785 drivable_area_generation: - polygon_generation_method: "object_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] From 1e48981bb34aea3078eb6326a5ac54366f2653a7 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 31 Aug 2023 09:31:35 +0900 Subject: [PATCH 046/130] chore(rviz_config): add debug marker group (#541) Signed-off-by: Takamasa Horibe --- autoware_launch/rviz/autoware.rviz | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 915a296d79..296d707b13 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2418,6 +2418,34 @@ Visualization Manager: Value: false Enabled: true Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: false + Name: Debug Enabled: true Global Options: Background Color: 10; 10; 10 From b98fb034254a1761bb24a85588fff1d446366b6e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 31 Aug 2023 09:54:34 +0900 Subject: [PATCH 047/130] feat(autoware_launch): enable emergency handling when resource monitoring state becomes error (#542) Signed-off-by: tomoya.kimura --- .../system/system_error_monitor/system_error_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 71dc2ac600..251486dafd 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 @@ -37,7 +37,7 @@ /autoware/system/node_alive_monitoring: default /autoware/system/emergency_stop_operation: default /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } /autoware/vehicle/node_alive_monitoring: default From 250defe83011632a0f2d3629346d5bdf544ae172 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 31 Aug 2023 11:43:31 +0900 Subject: [PATCH 048/130] fix(control_validator): default false for publishing diag and display terminal (#545) default false for publishing diag and display terminal Signed-off-by: kyoichi-sugahara --- .../control/control_validator/control_validator.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index 9ce677b2c2..c51cbafba2 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -1,14 +1,14 @@ /**: ros__parameters: - publish_diag: true # if true, diagnostic msg is published + publish_diag: false # if true, diagnostic msg is published # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR. # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if # the next predicted_path is valid.) diag_error_count_threshold: 0 - display_on_terminal: true # show error msg on terminal + display_on_terminal: false # show error msg on terminal thresholds: max_distance_deviation: 1.0 From fb5691ae9f1a40112cdcad7661d909044d6e7e12 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 31 Aug 2023 17:27:55 +0900 Subject: [PATCH 049/130] chore(rviz_config): add localization debug config (#544) Signed-off-by: kminoda --- autoware_launch/rviz/autoware.rviz | 104 ++++++++++++++++++++++++++++- 1 file changed, 103 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 296d707b13..9b130902a9 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2429,9 +2429,111 @@ Visualization Manager: Enabled: true Name: Sensing - Class: rviz_common/Group - Displays: ~ Enabled: true Name: Localization + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.1 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true - Class: rviz_common/Group Displays: ~ Enabled: true From 90b98b4d58105a4ac40b6f1e18f0d14e92ca2c05 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 1 Sep 2023 07:56:11 +0900 Subject: [PATCH 050/130] feat(interface): add new option `keep_last` (#543) feat(planner_manager): keep last module Signed-off-by: satoshi-ota --- .../scene_module_manager.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) 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 65582656b9..a3c0194d03 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 @@ -8,6 +8,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true + keep_last: false priority: 7 max_module_size: 1 @@ -16,6 +17,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true + keep_last: false priority: 7 max_module_size: 1 @@ -24,6 +26,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true + keep_last: false priority: 6 max_module_size: 1 @@ -32,6 +35,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true + keep_last: false priority: 6 max_module_size: 1 @@ -40,6 +44,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false + keep_last: false priority: 0 max_module_size: 1 @@ -48,6 +53,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false + keep_last: false priority: 2 max_module_size: 1 @@ -56,6 +62,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false + keep_last: true priority: 1 max_module_size: 1 @@ -64,6 +71,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false + keep_last: false priority: 5 max_module_size: 1 @@ -72,6 +80,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false + keep_last: false priority: 4 max_module_size: 1 @@ -80,5 +89,6 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true + keep_last: false priority: 3 max_module_size: 1 From 7fde9660e273f8c089c0a0f4b8263cae76936ba8 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 1 Sep 2023 10:43:22 +0900 Subject: [PATCH 051/130] feat(behavior_path_planner): add path resampling interval param (#522) Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 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 1609cdbc60..160ebdc180 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 @@ -21,12 +21,14 @@ rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint left: 0.5 # [m] extra length to add to the left of the dynamic object footprint right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint + path_preprocessing: + max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) + resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used) expansion: method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. # 'lanelet': add lanelets overlapped by the ego footprints # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) - max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area From d5b427ac5c3f73d4f938adee2e20548e0d5702a7 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 1 Sep 2023 15:38:01 +0900 Subject: [PATCH 052/130] feat(out_of_lane): add min_assumed_velocity parameter (#548) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/out_of_lane.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index dd4c1c6102..510dc86ef6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -34,6 +34,7 @@ distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap ego: + min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego extra_front_offset: 0.0 # [m] extra front distance extra_rear_offset: 0.0 # [m] extra rear distance extra_right_offset: 0.0 # [m] extra right distance From da57b463770b24a9a00753d451e721ce817d2bdb Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 5 Sep 2023 17:28:49 +0900 Subject: [PATCH 053/130] feat(behavior_path_planner): add safety check against dynamic objects for start/goal planner (#550) add params for safety check Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 60 +++++++++++++++++++ .../start_planner/start_planner.param.yaml | 60 +++++++++++++++++++ 2 files changed, 120 insertions(+) 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 cd2bc6168d..9ee48d7555 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 @@ -104,6 +104,66 @@ neighbor_radius: 8.0 margin: 1.0 + stop_condition: + maximum_deceleration_for_stop: 1.0 + maximum_jerk_for_stop: 1.0 + path_safety_check: + # EgoPredictedPath + ego_predicted_path: + acceleration: 1.0 + time_horizon: 10.0 + time_resolution: 0.5 + min_slow_speed: 0.0 + delay_until_departure: 1.0 + target_velocity: 1.0 + # For target object filtering + target_filtering: + safety_check_time_horizon: 5.0 + safety_check_time_resolution: 1.0 + # detection range + object_check_forward_distance: 10.0 + object_check_backward_distance: 100.0 + ignore_object_velocity_threshold: 0.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + # ObjectLaneConfiguration + object_lane_configuration: + check_current_lane: true + check_right_side_lane: true + check_left_side_lane: true + check_shoulder_lane: true + check_other_lane: false + include_opposite_lane: false + invert_opposite_lane: false + check_all_predicted_path: true + use_all_predicted_path: true + use_predicted_path_outside_lanelet: false + + # For safety check + safety_check_params: + # safety check configuration + enable_safety_check: true + # collision check parameters + check_all_predicted_path: true + publish_debug_marker: false + rss_params: + rear_vehicle_reaction_time: 1.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 1.0 + longitudinal_velocity_delta_time: 1.0 + # temporary + backward_path_length: 30.0 + forward_path_length: 100.0 + # debug debug: print_debug_info: false 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 bea78664c6..b62262423f 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 @@ -72,3 +72,63 @@ max_planning_time: 150.0 neighbor_radius: 8.0 margin: 1.0 + + stop_condition: + maximum_deceleration_for_stop: 1.0 + maximum_jerk_for_stop: 1.0 + path_safety_check: + # EgoPredictedPath + ego_predicted_path: + acceleration: 1.0 + time_horizon: 10.0 + time_resolution: 0.5 + min_slow_speed: 0.0 + delay_until_departure: 1.0 + target_velocity: 1.0 + # For target object filtering + target_filtering: + safety_check_time_horizon: 5.0 + safety_check_time_resolution: 1.0 + # detection range + object_check_forward_distance: 10.0 + object_check_backward_distance: 100.0 + ignore_object_velocity_threshold: 0.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + # ObjectLaneConfiguration + object_lane_configuration: + check_current_lane: true + check_right_side_lane: true + check_left_side_lane: true + check_shoulder_lane: true + check_other_lane: false + include_opposite_lane: false + invert_opposite_lane: false + check_all_predicted_path: true + use_all_predicted_path: true + use_predicted_path_outside_lanelet: false + + # For safety check + safety_check_params: + # safety check configuration + enable_safety_check: true + # collision check parameters + check_all_predicted_path: true + publish_debug_marker: false + rss_params: + rear_vehicle_reaction_time: 1.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 1.0 + longitudinal_velocity_delta_time: 1.0 + # temporary + backward_path_length: 30.0 + forward_path_length: 100.0 From 9bcc7e2efabcfa736a9a4af27220187f753411e8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 5 Sep 2023 21:24:27 +0900 Subject: [PATCH 054/130] feat(goal_planner): set ignore_distance_from_lane_start 0.0 (#552) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/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 9ee48d7555..ef14906b04 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 @@ -17,7 +17,7 @@ longitudinal_margin: 3.0 max_lateral_offset: 0.5 lateral_offset_interval: 0.25 - ignore_distance_from_lane_start: 15.0 + ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 # occupancy grid map From 8a867ce7ab61532ab3d0535c3c455b6dd6d70d33 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 6 Sep 2023 02:21:48 +0900 Subject: [PATCH 055/130] =?UTF-8?q?feat(goal=5Fplanner):=20do=20not=20use?= =?UTF-8?q?=20minimum=5Frequest=5Flength=20for=20fixed=20goal=20=E2=80=A6?= =?UTF-8?q?=20(#546)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit feat(goal_planner): do not use minimum_request_length for fixed goal planner Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/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 ef14906b04..1bfe689c55 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 @@ -2,7 +2,6 @@ ros__parameters: goal_planner: # general params - minimum_request_length: 100.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. @@ -36,6 +35,7 @@ # pull over pull_over: + minimum_request_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 From 235a2d58c05858388a45955f536d03ecfa594ba5 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 7 Sep 2023 13:01:45 +0900 Subject: [PATCH 056/130] feat(operation_transition_mannager): add param enable_engage_on_driving (#553) Signed-off-by: Takamasa Horibe --- .../operation_mode_transition_manager.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml index a86443f5ca..a4e8ab2c83 100644 --- a/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml +++ b/autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml @@ -2,6 +2,10 @@ ros__parameters: transition_timeout: 10.0 frequency_hz: 10.0 + + # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted. + enable_engage_on_driving: false + check_engage_condition: false # set false if you do not want to care about the engage condition. nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index From 3c23a106e333fba47229c7e415be57cf617679f2 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Thu, 7 Sep 2023 19:27:05 +0900 Subject: [PATCH 057/130] feat: add traffic light recogition namespace to e2e sim launch (#555) Signed-off-by: Shunsuke Miura --- autoware_launch/launch/e2e_simulator.launch.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index a089da6397..9ce8a421e9 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -18,6 +18,8 @@ + + @@ -56,6 +58,7 @@ + From 86e7c16a5185d66f4067257d0b7ff67ef45dabdd Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 7 Sep 2023 22:20:52 +0900 Subject: [PATCH 058/130] feat(lane_departure_checker): add border types to check (#549) update lane_departure_checker.param.yaml Signed-off-by: kyoichi-sugahara --- .../lane_departure_checker.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 008832b1ca..2d044e7cfd 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -1,5 +1,10 @@ /**: ros__parameters: + # Enable feature + will_out_of_lane_checker: true + out_of_lane_checker: true + boundary_departure_checker: false + # Node update_rate: 10.0 visualize_lanelet: false @@ -7,7 +12,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false - road_border_departure_checker: false + boundary_types_to_detect: [road_border] # Core footprint_margin_scale: 1.0 From 6de525cb25552fd59c22fe78807de488dad14481 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 8 Sep 2023 11:47:46 +0900 Subject: [PATCH 059/130] feat(ndt_scan_matcher): add param lidar_topic_timeout_sec (#540) Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../config/localization/ndt_scan_matcher.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 4c29059581..3a99927b41 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -37,6 +37,9 @@ # The number of particles to estimate initial pose initial_estimate_particles_num: 100 + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] + lidar_topic_timeout_sec: 1.0 + # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] initial_pose_timeout_sec: 1.0 From da09163506c7db364350c411482ee1beef8f9bb7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 9 Sep 2023 14:14:18 +0900 Subject: [PATCH 060/130] feat(autoware_launch): additional margin parameters in surround obstacle checker (#557) feat(autoware_launch): additional margin parameters in surround ostacle checker Signed-off-by: Takayuki Murooka --- .../surround_obstacle_checker.param.yaml | 56 +++++++++++++++++-- 1 file changed, 51 insertions(+), 5 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 6aa4e71774..5ec10572ff 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 @@ -1,11 +1,56 @@ /**: ros__parameters: - # obstacle check - use_pointcloud: true # use pointcloud as obstacle check - use_dynamic_object: true # use dynamic object as obstacle check - surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] - surround_check_recover_distance: 0.8 # if no object exists in this distance, transit to "non-surrounding-obstacle" status [m] + # surround_check_*_distance: if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m] + # surround_check_hysteresis_distance: if no object exists in this hysteresis distance added to the above distance, transit to "non-surrounding-obstacle" status [m] + pointcloud: + enable_check: false + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + unknown: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + car: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + truck: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + bus: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + trailer: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + motorcycle: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.0 + surround_check_back_distance: 0.5 + bicycle: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + pedestrian: + enable_check: true + surround_check_front_distance: 0.5 + surround_check_side_distance: 0.5 + surround_check_back_distance: 0.5 + + surround_check_hysteresis_distance: 0.3 + state_clear_time: 2.0 # ego stop state @@ -13,3 +58,4 @@ # debug publish_debug_footprints: true # publish vehicle footprint & footprints with surround_check_distance and surround_check_recover_distance offsets + debug_footprint_label: "car" From 0df78f526ac6e3cb278f98b5fab662a894354a45 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 12 Sep 2023 16:10:42 +0900 Subject: [PATCH 061/130] fix(autoware.rviz): remove initial_pose_button_panel (#561) Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- autoware_launch/rviz/autoware.rviz | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9b130902a9..0013fc36ca 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -16,8 +16,6 @@ Panels: Expanded: ~ Name: Views Splitter Ratio: 0.5 - - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel - Name: InitialPoseButtonPanel - Class: AutowareDateTimePanel Name: AutowareDateTimePanel - Class: rviz_plugins::AutowareStatePanel From aab18baba751d4c7affe9bc25b5fc196861379ae Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 12 Sep 2023 23:00:13 +0900 Subject: [PATCH 062/130] feat(autoware_launch): add approaching stop on curve in obstacle cruise planner (#560) * feat(autoware_launch): add approaching stop on curve in obstacle cruise planner Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 b71c2d667c..aadd0ccd02 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 @@ -20,6 +20,10 @@ nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index min_behavior_stop_margin: 3.0 # [m] + stop_on_curve: + enable_approaching: false + additional_safe_distance_margin: 3.0 # [m] + min_safe_distance_margin: 3.0 # [m] suppress_sudden_obstacle_stop: true stop_obstacle_type: From cb55e835b29c54030c45c7647f3948574fd7975b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 13 Sep 2023 00:45:18 +0900 Subject: [PATCH 063/130] feat(goal_planner): use only static objects in pull over lanes to path generation (#562) 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 1bfe689c55..c1fd848857 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 @@ -32,6 +32,7 @@ use_object_recognition: true 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 # pull over pull_over: From 7f675e21bcf486c8d2e5d2007a6b2378ddca4a6b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:08:52 +0900 Subject: [PATCH 064/130] chore(localization_error_monitor): update default parameter (#565) Signed-off-by: kminoda --- .../config/localization/localization_error_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml index 026daf0532..2aa28014ea 100644 --- a/autoware_launch/config/localization/localization_error_monitor.param.yaml +++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml @@ -4,4 +4,4 @@ error_ellipse_size: 1.0 warn_ellipse_size: 0.8 error_ellipse_size_lateral_direction: 0.3 - warn_ellipse_size_lateral_direction: 0.2 + warn_ellipse_size_lateral_direction: 0.25 From 405e5fbe3a21446d57959faf01b76432a79a3743 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:09:15 +0900 Subject: [PATCH 065/130] feat(tier4_system_rviz_plugin): add package (#564) * feat(tier4_system_rviz_plugin): add package Signed-off-by: kminoda * fix Signed-off-by: kminoda --------- Signed-off-by: kminoda --- 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 0013fc36ca..00e924da39 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -319,6 +319,22 @@ Visualization Manager: Value: true Enabled: true Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 Enabled: true Name: System - Class: rviz_common/Group From a576ad2ca3f77e3fd179f8d80fa295608bbd6f5f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 14 Sep 2023 16:56:05 +0900 Subject: [PATCH 066/130] feat(goal_planner): add options of occupancy grid map to use only for goal search (#563) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) 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 c1fd848857..f298406792 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 @@ -21,8 +21,9 @@ # occupancy grid map occupancy_grid: - use_occupancy_grid: true - use_occupancy_grid_for_longitudinal_margin: false + use_occupancy_grid_for_goal_search: true + use_occupancy_grid_for_goal_longitudinal_margin: false + use_occupancy_grid_for_path_collision_check: false occupancy_grid_collision_check_margin: 0.0 theta_size: 360 obstacle_threshold: 60 From 79af6a9e34939c3ed28b58b76a791b3ac164495e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 16 Sep 2023 18:17:57 +0900 Subject: [PATCH 067/130] fix(behavior_path_planner): define hysteresis_factor_expand_rate (#569) * hysteresis_factor_expand_rate Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix * add hysteresis_factor_expand_rate in SafetyCheckParams Signed-off-by: kyoichi-sugahara * delete setting files Signed-off-by: kyoichi-sugahara * revert unnecessary change Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ 2 files changed, 4 insertions(+) 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 f298406792..da42efc7f9 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 @@ -162,6 +162,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon with the value + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 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 b62262423f..586676fbbb 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 @@ -129,6 +129,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 From 9256a1322f233883c92ba36c09f03c38ceedf291 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 16:28:12 +0900 Subject: [PATCH 068/130] feat(behavior_path_planner): update start_goal_planner's parameter (#571) update start_goal_planner's parameter Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 7 ++++--- .../start_planner/start_planner.param.yaml | 7 ++++--- 2 files changed, 8 insertions(+), 6 deletions(-) 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 da42efc7f9..c4d1b7bb1b 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 @@ -112,12 +112,13 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: + min_velocity: 0.0 acceleration: 1.0 - time_horizon: 10.0 + max_velocity: 1.0 + time_horizon_for_front_object: 10.0 + time_horizon_for_rear_object: 10.0 time_resolution: 0.5 - min_slow_speed: 0.0 delay_until_departure: 1.0 - target_velocity: 1.0 # For target object filtering target_filtering: safety_check_time_horizon: 5.0 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 586676fbbb..492bf1ddca 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 @@ -79,12 +79,13 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: + min_velocity: 0.0 acceleration: 1.0 - time_horizon: 10.0 + max_velocity: 1.0 + time_horizon_for_front_object: 10.0 + time_horizon_for_rear_object: 10.0 time_resolution: 0.5 - min_slow_speed: 0.0 delay_until_departure: 1.0 - target_velocity: 1.0 # For target object filtering target_filtering: safety_check_time_horizon: 5.0 From 17f9cea1334afba763133286752d7c3aa95c6acd Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 21:19:39 +0900 Subject: [PATCH 069/130] fix(behavior_path_planner): change safety check default disable (#572) * change safety check default disable Signed-off-by: kyoichi-sugahara * add warning message Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 c4d1b7bb1b..94ae9fa6d9 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 @@ -153,7 +153,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled # collision check parameters check_all_predicted_path: true publish_debug_marker: false 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 492bf1ddca..e12a1a3519 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 @@ -120,7 +120,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled # collision check parameters check_all_predicted_path: true publish_debug_marker: false From c085625ae13afd850fe401c0603f6cf9c6c36904 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 21:19:53 +0900 Subject: [PATCH 070/130] feat(behavior_path_planner): set param ignore_object_velocity_threshold (#573) set param ignore_object_velocity_threshold Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 94ae9fa6d9..0c11077ea6 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 @@ -126,7 +126,7 @@ # detection range object_check_forward_distance: 10.0 object_check_backward_distance: 100.0 - ignore_object_velocity_threshold: 0.0 + ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck object_types_to_check: check_car: true 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 e12a1a3519..4fa1c09958 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 @@ -93,7 +93,7 @@ # detection range object_check_forward_distance: 10.0 object_check_backward_distance: 100.0 - ignore_object_velocity_threshold: 0.0 + ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck object_types_to_check: check_car: true From 34e4ac35bde3cf2dbec366f9b4f02e6837277ebf Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 19 Sep 2023 09:38:37 +0900 Subject: [PATCH 071/130] refactor(perception): rearrange clustering pipeline parameters (#567) * fix: use downsample before compare map Signed-off-by: badai-nguyen * fix: remove downsample after compare map Signed-off-by: badai-nguyen * fix: add low range crop filter param Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../clustering/compare_map.param.yaml | 20 ------------------- .../detection/clustering/outlier.param.yaml | 8 -------- .../clustering/voxel_grid.param.yaml | 7 ------- ...el_grid_based_euclidean_cluster.param.yaml | 14 +++++++------ .../pointcloud_map_filter.param.yaml | 2 -- .../tier4_perception_component.launch.xml | 5 ----- 6 files changed, 8 insertions(+), 48 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml deleted file mode 100644 index 3dd303464a..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml +++ /dev/null @@ -1,20 +0,0 @@ -/**: - ros__parameters: - - # distance threshold for compare compare - distance_threshold: 0.5 - - # publish voxelized map pointcloud for debug - publish_debug_pcd: False - - # use dynamic map loading - use_dynamic_map_loading: True - - # time interval to check dynamic map loading - timer_interval_ms: 100 - - # distance threshold for dynamic map update - map_update_distance_threshold: 10.0 - - # radius map for dynamic map loading - map_loader_radius: 150.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml deleted file mode 100644 index 1962fba1f3..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.3 - voxel_size_y: 0.3 - voxel_size_z: 100.0 - voxel_points_threshold: 3 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml deleted file mode 100644 index 3ff32bfbb7..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.15 - voxel_size_y: 0.15 - voxel_size_z: 0.15 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 2f3de2b789..26b027f007 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -7,9 +7,11 @@ max_cluster_size: 3000 use_height: false input_frame: "base_link" - max_x: 70.0 - min_x: -70.0 - max_y: 70.0 - min_y: -70.0 - max_z: 4.5 - min_z: -4.5 + + # low height crop box filter param + max_x: 200.0 + min_x: -200.0 + max_y: 200.0 + min_y: -200.0 + max_z: 2.0 + min_z: -10.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 0423217582..62b3074c15 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -1,7 +1,5 @@ /**: ros__parameters: - # use downsample filter before compare map - use_down_sample_filter: False # voxel size for downsample filter down_sample_voxel_size: 0.1 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index cf5b2dd98c..3b133bdf0f 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -21,16 +21,11 @@ - - Date: Tue, 19 Sep 2023 12:11:33 +0900 Subject: [PATCH 072/130] fix(autoware_launch): add radar lanelet filter parameter (#566) Signed-off-by: scepter914 --- .../object_filter/radar_lanelet_filter.param.yaml | 11 +++++++++++ .../components/tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 15 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml new file mode 100644 index 0000000000..62051e1c5e --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : true + TRUCK : true + BUS : true + TRAILER : true + MOTORCYCLE : true + BICYCLE : true + PEDESTRIAN : true diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3b133bdf0f..10da418468 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -58,6 +58,10 @@ name="object_recognition_detection_object_merger_distance_threshold_list_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> + Date: Wed, 20 Sep 2023 11:34:52 +0900 Subject: [PATCH 073/130] feat(ekf_lolicazer): add diagnostics parameters (#554) * feat(ekf_lolicazer): add diagnostics parameters Signed-off-by: yamato-ando * remote param Signed-off-by: yamato-ando --------- Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../config/localization/ekf_localizer.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4d3f5b9643..8b24b79e71 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -21,3 +21,9 @@ proc_stddev_yaw_c: 0.005 proc_stddev_vx_c: 10.0 proc_stddev_wz_c: 5.0 + + # for diagnostics + pose_no_update_count_threshold_warn: 50 + pose_no_update_count_threshold_error: 250 + twist_no_update_count_threshold_warn: 50 + twist_no_update_count_threshold_error: 250 From eadccd51de84f142bdfd3bd5214a23d958190d45 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 20 Sep 2023 16:23:18 +0900 Subject: [PATCH 074/130] feat(ekf_localizer): ignore dead band of velocity sensor (#574) * feat(ekf_localizer): ignore dead band of velocity sensor 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> --- autoware_launch/config/localization/ekf_localizer.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 8b24b79e71..667217d259 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -27,3 +27,6 @@ pose_no_update_count_threshold_error: 250 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 250 + + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s] From f584821fe617b2ec0fc9b4024ff0db9449f65fe4 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Wed, 20 Sep 2023 13:00:06 +0300 Subject: [PATCH 075/130] feat(perception): add data_path argument to launch file (#577) * feat(perception): add data_path argument to launch file Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/launch/autoware.launch.xml | 5 ++++- .../launch/components/tier4_perception_component.launch.xml | 6 ++++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 ++ autoware_launch/launch/logging_simulator.launch.xml | 1 + autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 5 files changed, 13 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 1a4fbb70f4..afb65c669d 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -6,6 +6,7 @@ + @@ -89,7 +90,9 @@ - + + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 10da418468..342396934c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -8,6 +8,7 @@ default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)" /> + @@ -19,6 +20,7 @@ + - + - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 9ce8a421e9..5db03b94a9 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -4,6 +4,7 @@ + @@ -36,6 +37,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 6621c15ea3..7eb13135d3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -5,6 +5,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 0a97454854..fdc86ebba7 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -4,6 +4,7 @@ + @@ -37,6 +38,7 @@ + From 86aa396e604f93e0301b68ca495c8172bf7502a1 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 21 Sep 2023 14:13:09 +0900 Subject: [PATCH 076/130] feat(vehicle_cmd_gate): add steering angle and rate filter (#576) Signed-off-by: Takamasa Horibe --- .../control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 92844c61f6..191e894622 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -15,6 +15,8 @@ nominal: vel_lim: 25.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [5.0, 4.0] lon_jerk_lim: [5.0, 4.0] lat_acc_lim: [5.0, 4.0] @@ -23,6 +25,8 @@ on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [1.0, 0.9] lon_jerk_lim: [0.5, 0.4] lat_acc_lim: [2.0, 1.8] From b5e61161467e8ac39ebf69edc806229fd00fca73 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 21 Sep 2023 14:36:40 +0900 Subject: [PATCH 077/130] feat: prevent start planner execution in the middle of the road (#579) * start planner:new param: dist th to middle of road Signed-off-by: Daniel Sanchez * refactor param order Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../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 4fa1c09958..ee0edd21c9 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 @@ collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 + th_distance_to_middle_of_the_road: 0.1 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false From 484b7eabc3d84b9e7aa6dcc35f3d159d068d2cfd Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Fri, 22 Sep 2023 16:07:03 +0900 Subject: [PATCH 078/130] refactor(ndt_scan_matcher): match ndt_scan_matcher.param.yaml (#583) * Added ndt_base_link parameter in ndt_scan_matcher.param.yaml Deleted neighborhood_search_mathod paramter in ndt_scan_matcher.param.yaml Signed-off-by: TaikiYamada4 * Copy-pasted the ndt_scan_matcher.param.yaml from universe Signed-off-by: TaikiYamada4 * Correct spelling Signed-off-by: TaikiYamada4 --------- Signed-off-by: TaikiYamada4 --- .../config/localization/ndt_scan_matcher.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 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 3a99927b41..2785938d5e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -6,6 +6,9 @@ # Vehicle reference frame base_frame: "base_link" + # NDT reference frame + ndt_base_frame: "ndt_base_link" + # Subscriber queue size input_sensor_points_queue_size: 1 @@ -46,10 +49,6 @@ # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 - # neighborhood search method - # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 - neighborhood_search_method: 0 - # Number of threads used for parallel computing num_threads: 4 @@ -80,6 +79,7 @@ # 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 From b7dc59efc310ea0b637492dda8df8db9a59902ae Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 22 Sep 2023 16:39:41 +0900 Subject: [PATCH 079/130] feat(planning_launch): add config for regulate lane change (#582) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 372ed9041c..7e58a27e28 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 @@ -62,6 +62,11 @@ check_objects_on_other_lanes: true use_all_predicted_path: true + # lane change regulations + regulation: + crosswalk: false + intersection: false + # lane change cancel cancel: enable_on_prepare_phase: true From 6e1174a405888b5242617aa02c6620fdf20b0dcd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 22 Sep 2023 17:16:46 +0900 Subject: [PATCH 080/130] fix(motion_velocity_smoother): change curvature calculation distance parameter (#556) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 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 868b1bd15c..1fc5d3d670 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 @@ -7,12 +7,19 @@ # external velocity limit parameter margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] - # curve parameters + # -- 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] + # lateral acceleration limit parameters 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] 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 + max_steering_angle_rate: 40.0 # 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] # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] @@ -48,11 +55,7 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] - # steering angle rate limit parameters - max_steering_angle_rate: 40.0 # 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] - curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m] + # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point From 76a3f658add1e040c7872648385a5283a4ff0be7 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 24 Sep 2023 18:07:05 +0900 Subject: [PATCH 081/130] fix(start/goal_planner): resample path and make params (#586) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 2 files changed, 2 insertions(+) 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 0c11077ea6..70dd904863 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 @@ -5,6 +5,7 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. + center_line_path_interval: 1.0 # goal search goal_search: 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 ee0edd21c9..352a0bf350 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 @@ -8,6 +8,7 @@ collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.1 + center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false From 7dbcf0a450f15796f35b21b883aac0a016f0cda0 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 25 Sep 2023 09:47:41 +0900 Subject: [PATCH 082/130] chore(motion_velocity_smoother): add enable curve filtering param (#580) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 1fc5d3d670..235c76a5c1 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 @@ -11,12 +11,14 @@ # common parameters curvature_calculation_distance: 5.0 # 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] 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] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] @@ -55,8 +57,6 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] - - # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point From 49e260eb19397ff0eda99b22b445ecb514d4f9b2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 10:49:56 +0900 Subject: [PATCH 083/130] feat(autoware_launch): add check_footprint_inside_lanes in mission_planner (#589) Signed-off-by: Takayuki Murooka --- .../mission_planning/mission_planner/mission_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml index 98c28344ea..9b7dcffbc6 100644 --- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -9,3 +9,4 @@ reroute_time_threshold: 10.0 minimum_reroute_length: 30.0 consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. + check_footprint_inside_lanes: true From 34b006265a453a0ed094ed60fe52efe4cb0431e3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 10:53:45 +0900 Subject: [PATCH 084/130] feat(autoware_launch): add stop_distance_threshold in merge_from_private (#587) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 00df2e2ced..def2335e20 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 @@ -56,3 +56,4 @@ merge_from_private: stop_line_margin: 3.0 stop_duration_sec: 1.0 + stop_distance_threshold: 1.0 From 36820f2547187aabe727d6624ce04adb5b715388 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 14:04:52 +0900 Subject: [PATCH 085/130] feat(autoware_launch): add traffic protected level for amber color in intersection (#588) * feat(autoware_launch): add traffic protected level for amber color in intersection Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) 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 def2335e20..5b626ec19d 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 @@ -24,12 +24,15 @@ state_transit_margin_time: 1.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] - normal: - collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object - relaxed: + fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 + partially_prioritized: + collision_start_margin_time: 2.0 + collision_end_margin_time: 2.0 + not_prioritized: + collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: From f4ed3ba8d97affb76b11fa38044238ac21af6b51 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 25 Sep 2023 16:23:49 +0900 Subject: [PATCH 086/130] feat(obstacle_cruise_planner): add parameters for a new feature (#581) * feat: add parameters for the feature "cosider-current-ego-pose" Signed-off-by: Yuki Takagi * set the params to be merged. use stop planner as cruise planner type (conventional setting) polygon expansion in obstacle_cruise_planner is true Signed-off-by: Yuki Takagi --------- Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) 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 aadd0ccd02..cb4d6a68c5 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 @@ -106,6 +106,13 @@ successive_num_to_entry_slow_down_condition: 5 successive_num_to_exit_slow_down_condition: 5 + # consider the current ego pose (it is not the nearest pose on the reference trajectory) + # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" + # The both errors decrease with constant rates against the time. + consider_current_pose: + enable_to_consider_current_pose: true + time_to_convergence: 1.5 #[s] + cruise: pid_based_planner: use_velocity_limit_based_planner: true From 50175784389ea1d3bb4fc31269d363a5ddbb5d21 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 25 Sep 2023 23:31:33 +0900 Subject: [PATCH 087/130] feat(intersection): ensure-temporal-stop-before-upcoming-lane (#578) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 5b626ec19d..a932254140 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 @@ -51,6 +51,7 @@ possible_object_bbox: [1.5, 2.5] # [m x m] ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h stop_release_margin_time: 1.5 # [s] + temporal_stop_before_attention_area: false enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From 5b7e16cc0c34159202b5ce6e29bcad6212a9d02b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 26 Sep 2023 12:15:09 +0900 Subject: [PATCH 088/130] feat(goal_planner): sort goal candidates priority by weighted distance (#591) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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 70dd904863..e1108d56c9 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 @@ -9,7 +9,10 @@ # goal search goal_search: - search_priority: "efficient_path" # "efficient_path" or "close_goal" + goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" + minimum_weighted_distance: + lateral_weight: 40.0 + path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 20.0 backward_goal_search_length: 20.0 From 45f7e581cbc17cdf82737c2c12cd5e7576c90773 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 26 Sep 2023 15:19:07 +0900 Subject: [PATCH 089/130] feat(lane_change): enable lane change in crosswalk/intersection if ego vehicle gets stuck (#590) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 7e58a27e28..1accb1f709 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 @@ -67,6 +67,11 @@ crosswalk: false intersection: false + # ego vehicle stuck detection + stuck_detection: + velocity: 0.1 # [m/s] + stop_time: 3.0 # [s] + # lane change cancel cancel: enable_on_prepare_phase: true From bf07c8aeb6bb1aa42f0e3e6db2eb5e39cdc5377e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Muhammed=20Yavuz=20K=C3=B6seo=C4=9Flu?= Date: Tue, 26 Sep 2023 10:59:29 +0300 Subject: [PATCH 090/130] feat(ndt_scan_matcher): adding exe time parameter (#559) add critical_upper_bound_exe_time_ms for ndt --- .../config/localization/ndt_scan_matcher.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 2785938d5e..4a22059bda 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -85,3 +85,6 @@ # 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 + critical_upper_bound_exe_time_ms: 100 # [ms] From 4dd0acab6cd58353bbed3c0ae46415c46b19c833 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Sep 2023 18:45:00 +0900 Subject: [PATCH 091/130] feat(autoware_launch): move dynamic_avoidance last (#593) Signed-off-by: Takayuki Murooka --- .../scene_module_manager.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) 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 a3c0194d03..ff4b486ef9 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 @@ -9,7 +9,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 7 + priority: 6 max_module_size: 1 external_request_lane_change_right: @@ -18,7 +18,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 7 + priority: 6 max_module_size: 1 lane_change_left: @@ -27,7 +27,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 6 + priority: 5 max_module_size: 1 lane_change_right: @@ -36,7 +36,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 6 + priority: 5 max_module_size: 1 start_planner: @@ -72,7 +72,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 5 + priority: 4 max_module_size: 1 avoidance_by_lc: @@ -81,7 +81,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 4 + priority: 3 max_module_size: 1 dynamic_avoidance: @@ -89,6 +89,6 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 3 + keep_last: true + priority: 7 max_module_size: 1 From 97d8d601e03a6f93f68dab8e8ed01afb0a6fee2b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 26 Sep 2023 22:34:57 +0900 Subject: [PATCH 092/130] feat: add system monitor param file for awsim (#568) * feat: add system monitor param file for awsim Signed-off-by: tomoya.kimura * feat: use system_error_monitor.awsim.param in e2e_simulator.launch Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../system_error_monitor.awsim.param.yaml | 52 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 1 + .../tier4_system_component.launch.xml | 4 +- .../launch/e2e_simulator.launch.xml | 6 +++ 4 files changed, 62 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml 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 new file mode 100644 index 0000000000..2f98f9d0e2 --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -0,0 +1,52 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + /autoware/control/autonomous_driving/node_alive_monitoring: default + /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/control_command_gate/node_alive_monitoring: default + + /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/map/node_alive_monitoring: default + + /autoware/perception/node_alive_monitoring: default + + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default + + # /autoware/sensing/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default + + external_control: + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index afb65c669d..5d98c9388f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -33,6 +33,7 @@ + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 3cfc6d8541..1bd74ccbbf 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,5 +1,7 @@ + + @@ -10,7 +12,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 5db03b94a9..fe8d1de1d8 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -27,6 +27,11 @@ + @@ -56,6 +61,7 @@ + From 98da1a0eaa814b11a0da6b05d12c3e740482539b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 27 Sep 2023 07:53:38 +0900 Subject: [PATCH 093/130] feat(autoware_launch): add max_obstacle_vel in dynamic_avoidance (#595) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_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/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 a05bdda099..bf9c815405 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 @@ -16,6 +16,7 @@ motorcycle: true pedestrian: false + max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] successive_num_to_entry_dynamic_avoidance_condition: 5 From f9edba40b5f101d4304ee97920d5b4b1a43ad379 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 20:31:28 +0900 Subject: [PATCH 094/130] feat(goal_planner): extend goal search area (#592) feat(goal_planner): extend goal search are Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.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/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 e1108d56c9..10bb6453b4 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 @@ -14,12 +14,12 @@ lateral_weight: 40.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" - forward_goal_search_length: 20.0 + forward_goal_search_length: 40.0 backward_goal_search_length: 20.0 goal_search_interval: 2.0 longitudinal_margin: 3.0 - max_lateral_offset: 0.5 - lateral_offset_interval: 0.25 + max_lateral_offset: 1.0 + lateral_offset_interval: 0.5 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 From 3d050e3cc65de2f01b9c61ffbf6cb4324350ff73 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 21:09:17 +0900 Subject: [PATCH 095/130] feat(goal_planner): change minimum_request_length 0.0 (#598) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/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 10bb6453b4..a59786ccdd 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 @@ -41,7 +41,7 @@ # pull over pull_over: - minimum_request_length: 100.0 + minimum_request_length: 0.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 From 051da834e9aaf0fdec46175a9ddc09ba7637cced Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 22:27:19 +0900 Subject: [PATCH 096/130] feat(start_planner): enable divide_pull_out_path (#600) 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 352a0bf350..45a214b7d3 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 @@ -21,7 +21,7 @@ maximum_curvature: 0.07 # geometric pull out enable_geometric_pull_out: true - divide_pull_out_path: false + divide_pull_out_path: true geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 lane_departure_margin: 0.2 From 6b6f00622e67a23886672850119b5a51dd502554 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 22:27:36 +0900 Subject: [PATCH 097/130] feat(start_planner): change th_distance_to_middle_of_the_road 0.5 (#599) 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 45a214b7d3..5487b0fde9 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 @@ -7,7 +7,7 @@ collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 - th_distance_to_middle_of_the_road: 0.1 + th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true From 557b4ccac99b913cda971844fb1736e0465657b5 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 28 Sep 2023 09:14:37 +0900 Subject: [PATCH 098/130] feat(goal_planner): prioritize goals before objects to avoid (#594) * feat(goal_planner): extend goal search are Signed-off-by: kosuke55 * feat(goal_planner): prioritize goals before objects to avoid Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 a59786ccdd..f52c36179b 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 @@ -12,7 +12,7 @@ goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" minimum_weighted_distance: lateral_weight: 40.0 - path_priority: "efficient_path" # "efficient_path" or "close_goal" + prioritize_goals_before_objects: true parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 40.0 backward_goal_search_length: 20.0 @@ -47,6 +47,8 @@ decide_path_distance: 10.0 maximum_deceleration: 1.0 maximum_jerk: 1.0 + path_priority: "efficient_path" # "efficient_path" or "close_goal" + efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking) # shift parking shift_parking: From 40281243c5ebb012ed9f261ae77a1982c0f72ad4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 28 Sep 2023 13:24:05 +0900 Subject: [PATCH 099/130] feat(intersection): use planned velocity from upstream modules (#597) 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 a932254140..4042adeb36 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 @@ -34,6 +34,8 @@ collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr + use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module + minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity occlusion: enable: false From 206d439e074eda2c9c0faedef84e3bbfa55fa93d Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Thu, 28 Sep 2023 17:48:52 +0900 Subject: [PATCH 100/130] refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to match with the one in universe (#596) Modified ndt_scan_matcher.param.yaml to match with the one in universe Signed-off-by: TaikiYamada4 --- .../config/localization/ndt_scan_matcher.param.yaml | 9 ++++++--- 1 file changed, 6 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 4a22059bda..718bc6ca3b 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -9,6 +9,9 @@ # NDT reference frame ndt_base_frame: "ndt_base_link" + # map frame + map_frame: "map" + # Subscriber queue size input_sensor_points_queue_size: 1 @@ -53,7 +56,7 @@ num_threads: 4 # The covariance of output pose - # Do note that this covariance matrix is empirically derived + # Note that this covariance matrix is empirically derived output_pose_covariance: [ 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -86,5 +89,5 @@ # 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 - critical_upper_bound_exe_time_ms: 100 # [ms] + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100 From 901a04495f77488f0fa630e621dbd95b36e3ebbe Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Sun, 1 Oct 2023 17:07:18 +0300 Subject: [PATCH 101/130] feat(autoware_launch): add predicted_path_checker package (#385) Signed-off-by: Berkay Karaman --- .../predicted_path_checker.param.yaml | 22 +++++++++++++++++++ .../tier4_control_component.launch.xml | 3 +++ 2 files changed, 25 insertions(+) create mode 100644 autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml diff --git a/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml new file mode 100644 index 0000000000..780d86b5e9 --- /dev/null +++ b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + # Node + update_rate: 10.0 + delay_time: 0.17 + max_deceleration: 1.5 + resample_interval: 0.5 + stop_margin: 0.5 # [m] + ego_nearest_dist_threshold: 3.0 # [m] + ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg] + min_trajectory_check_length: 1.5 # [m] + trajectory_check_time: 3.0 + distinct_point_distance_threshold: 0.3 + distinct_point_yaw_threshold: 5.0 # [deg] + filtering_distance_threshold: 1.5 # [m] + use_object_prediction: true + + collision_checker_params: + width_margin: 0.2 + chattering_threshold: 0.2 + z_axis_filtering_buffer: 0.3 + enable_z_axis_obstacle_filtering: false diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 8b29135048..d15e050d7a 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -5,6 +5,7 @@ + @@ -42,5 +43,7 @@ + + From da1cfda260d9f488ce617b916f687e42400b0a9e Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 2 Oct 2023 10:55:18 +0900 Subject: [PATCH 102/130] feat(lane_change): expand target lanes for object filtering (#601) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 1accb1f709..1be71cae53 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 @@ -38,6 +38,11 @@ longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + # lane expansion for object filtering + lane_expansion: + left_offset: 0.0 # [m] + right_offset: 0.0 # [m] + # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0] From c1e98dde3f7d6b0c89b29c97376c83cb349a73e9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 2 Oct 2023 12:06:39 +0900 Subject: [PATCH 103/130] feat(behavior_path_planner): update rss param (#604) update param Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 10 +++++----- .../start_planner/start_planner.param.yaml | 8 ++++---- 2 files changed, 9 insertions(+), 9 deletions(-) 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 f52c36179b..0f1b441bed 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 @@ -118,7 +118,7 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: - min_velocity: 0.0 + min_velocity: 1.0 acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 @@ -164,11 +164,11 @@ check_all_predicted_path: true publish_debug_marker: false rss_params: - rear_vehicle_reaction_time: 1.0 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 1.0 - longitudinal_velocity_delta_time: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 # temporary 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 5487b0fde9..1424b58d22 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 @@ -127,11 +127,11 @@ check_all_predicted_path: true publish_debug_marker: false rss_params: - rear_vehicle_reaction_time: 1.0 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 1.0 - longitudinal_velocity_delta_time: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon hysteresis_factor_expand_rate: 1.0 # temporary From 3fa16a194159cfca6664b293d4e6bb73a86b6c7a Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 3 Oct 2023 06:57:28 +0900 Subject: [PATCH 104/130] feat(localization_error_monitor): update parameter (#614) Signed-off-by: kminoda --- .../config/localization/localization_error_monitor.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml index 2aa28014ea..def5c80164 100644 --- a/autoware_launch/config/localization/localization_error_monitor.param.yaml +++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: scale: 3.0 - error_ellipse_size: 1.0 - warn_ellipse_size: 0.8 + error_ellipse_size: 1.5 + warn_ellipse_size: 1.2 error_ellipse_size_lateral_direction: 0.3 warn_ellipse_size_lateral_direction: 0.25 From dee409f7716b324a29e43dc9a3bf6f14fa5968af Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 3 Oct 2023 10:55:17 +0900 Subject: [PATCH 105/130] fix(autoware_launch): improve stop decision in out_of_lane (#615) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/out_of_lane.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index 510dc86ef6..c74c5b3d87 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -24,8 +24,7 @@ action: # action to insert in the path if an object causes a conflict at an overlap skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed - strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego - # if false, ego stops just before entering a lane but may then be overlapping another lane. + precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap From b951b5190232b3bd36b982a355dbbe6041e0b0f3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 3 Oct 2023 12:11:39 +0900 Subject: [PATCH 106/130] feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk (#610) * feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka * revert a parg of config Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 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 0c12624f3b..4b81a1e687 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 @@ -54,7 +54,9 @@ ## param for yielding disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal - timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + 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] the amount of time which ego should be stopping to query whether it yields or not # param for target object filtering From cc47affb1346db5e638ae27736897f3fa03a264f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 09:49:55 +0900 Subject: [PATCH 107/130] feat(intersection): aggressively peek into attention area if traffic light does not exist (#611) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +++ 1 file changed, 3 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 4042adeb36..5e74e837bf 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 @@ -54,6 +54,9 @@ ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h stop_release_margin_time: 1.5 # [s] temporal_stop_before_attention_area: false + absence_traffic_light: + creep_velocity: 1.388 # [m/s] + maximum_peeking_distance: 6.0 # [m] enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From c1edaf9d71ffa9a653ba7fce376a93f8f5f64276 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 4 Oct 2023 15:14:06 +0900 Subject: [PATCH 108/130] perf(ndt_scan_matcher): changed default `initial_estimate_particles_num` to 200 (#618) Changed initial_estimate_particles_num to 200 Signed-off-by: Shintaro Sakoda --- autoware_launch/config/localization/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 718bc6ca3b..cf41a4cf55 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -41,7 +41,7 @@ converged_param_nearest_voxel_transformation_likelihood: 2.3 # The number of particles to estimate initial pose - initial_estimate_particles_num: 100 + initial_estimate_particles_num: 200 # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] lidar_topic_timeout_sec: 1.0 From 5cba1dabfad5dbd6bdbbe446f90cd96db61f9da9 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 21:17:04 +0900 Subject: [PATCH 109/130] feat(intersection): ignore occlusion beyond high curvature point (#619) 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 5e74e837bf..ccd3612203 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 @@ -57,6 +57,8 @@ absence_traffic_light: creep_velocity: 1.388 # [m/s] maximum_peeking_distance: 6.0 # [m] + attention_lane_crop_curvature_threshold: 0.25 + attention_lane_curvature_calculation_ds: 0.5 enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From 811307d605eb2983d4ab669e9ed3cb24a862ee80 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 5 Oct 2023 11:32:30 +0900 Subject: [PATCH 110/130] fix: add param file for obstacle pointcloud based validator (#606) * fix: add param file for obstacle pointcloud based validator Signed-off-by: badai-nguyen * fix: tier4_perception launch Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../obstacle_pointcloud_based_validator.param.yaml | 13 +++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 17 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml new file mode 100644 index 0000000000..22999b411f --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -0,0 +1,13 @@ +/**: + ros__parameters: + min_points_num: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [10, 10, 10, 10, 10,10, 10, 10] + + max_points_num: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [10, 10, 10, 10, 10,10, 10, 10] + + min_points_and_distance_ratio: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 342396934c..1ec8f2c22f 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -48,6 +48,10 @@ 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: Thu, 5 Oct 2023 13:16:30 +0900 Subject: [PATCH 111/130] refactor(avoidance): use safety check parameter struct (#617) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 10 +++++++--- 1 file changed, 7 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 c91ec0e88b..5f80c76111 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 @@ -139,12 +139,16 @@ check_other_object: true # [-] # collision check parameters check_all_predicted_path: false # [-] - time_resolution: 0.5 # [s] - time_horizon_for_front_object: 3.0 # [s] - time_horizon_for_rear_object: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] hysteresis_factor_safe_count: 10 # [-] + # predicted path parameters + min_velocity: 1.38 # [m/s] + max_velocity: 50.0 # [m/s] + time_resolution: 0.5 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] + delay_until_departure: 0.0 # [s] # rss parameters expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] From fd15eb88fe1759d90390b93a7a20a63a345c4393 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 6 Oct 2023 13:53:31 +0900 Subject: [PATCH 112/130] feat(intersection)!: disable the exception behavior in the private areas (#622) feat: add enabling param for the private areas Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 ccd3612203..e210d2fb21 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 @@ -19,6 +19,7 @@ # enable_front_car_decel_prediction: false # By default this feature is disabled # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area + enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true. collision_detection: state_transit_margin_time: 1.0 From cbe4ed8763f6c33dff67e91ebeb5bd4e6250f5b6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 6 Oct 2023 13:54:04 +0900 Subject: [PATCH 113/130] feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner param change (#621) * set obstacle type dependant params Signed-off-by: Daniel Sanchez * Set obstacle cruise planner as default to test changes Signed-off-by: Daniel Sanchez * Change back testing parameters to default Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) 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 cb4d6a68c5..ddea1a9b56 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 @@ -179,10 +179,13 @@ slow_down: # parameters to calculate slow down velocity by linear interpolation - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + labels: + - "default" + default: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s] From 347b2939ffdc9dc00effe897c1a0eff6c16c74f1 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 6 Oct 2023 20:16:48 +0900 Subject: [PATCH 114/130] feat(lane_change): separate execution and cancel safety check param (#626) Signed-off-by: Zulfaqar Azmi --- .../lane_change/lane_change.param.yaml | 26 ++++++++++++------- 1 file changed, 17 insertions(+), 9 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 1be71cae53..a090a6d3a8 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 @@ -28,15 +28,23 @@ # safety check safety_check: - expected_front_deceleration: -1.0 - expected_rear_deceleration: -1.0 - expected_front_deceleration_for_abort: -1.0 - expected_rear_deceleration_for_abort: -2.0 - rear_vehicle_reaction_time: 2.0 - rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 2.0 - longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 + allow_loose_check_for_cancel: true + execution: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -1.0 + rear_vehicle_reaction_time: 2.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 + cancel: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -2.0 + rear_vehicle_reaction_time: 1.5 + rear_vehicle_safety_time_margin: 0.8 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 2.5 + longitudinal_velocity_delta_time: 0.6 # lane expansion for object filtering lane_expansion: From 2c08bc6586a81f13d1e08da8d70cfc4b255864c6 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 6 Oct 2023 22:14:40 +0900 Subject: [PATCH 115/130] feat(intersection): yield initially on green light (#623) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 ++++ 1 file changed, 4 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 e210d2fb21..a303b78af9 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 @@ -37,6 +37,10 @@ keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity + yield_on_green_traffic_light: + distance_to_assigned_lanelet_start: 10.0 + duration: 3.0 + range: 50.0 # [m] occlusion: enable: false From 9d9eb334818b0eb8b42d4d0f8d676626f19da381 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 7 Oct 2023 17:20:43 +0900 Subject: [PATCH 116/130] feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (#625) * disable RTC Signed-off-by: kyoichi-sugahara * remove rtc auto mode manager Signed-off-by: kyoichi-sugahara * fix file name Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../scene_module_manager.param.yaml | 20 +++++++++---------- .../blind_spot.param.yaml | 2 +- .../crosswalk.param.yaml | 2 +- .../detection_area.param.yaml | 2 +- .../intersection.param.yaml | 4 ++-- .../no_stopping_area.param.yaml | 2 +- .../traffic_light.param.yaml | 2 +- .../rtc_replayer.param.yaml} | 0 .../tier4_planning_component.launch.xml | 3 --- 9 files changed, 17 insertions(+), 20 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/{rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml => rtc_replayer/rtc_replayer.param.yaml} (100%) 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 ff4b486ef9..1fc83edd08 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 @@ -5,7 +5,7 @@ ros__parameters: external_request_lane_change_left: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -14,7 +14,7 @@ external_request_lane_change_right: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -23,7 +23,7 @@ lane_change_left: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -32,7 +32,7 @@ lane_change_right: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -41,7 +41,7 @@ start_planner: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -50,7 +50,7 @@ side_shift: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -59,7 +59,7 @@ goal_planner: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: true @@ -68,7 +68,7 @@ avoidance: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -77,7 +77,7 @@ avoidance_by_lc: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -86,7 +86,7 @@ dynamic_avoidance: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 8a57bfeabd..0950ece4ae 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -8,4 +8,4 @@ max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] - enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. 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 4b81a1e687..d99c70c5f6 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 @@ -5,7 +5,7 @@ show_processing_time: false # [-] whether to show processing time # param for input data traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal - enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. # param for stop position stop_position: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml index 55b627cce7..ddd8b934d2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml @@ -8,4 +8,4 @@ state_clear_time: 2.0 hold_stop_margin_distance: 0.0 distance_to_judge_over_stop_line: 0.5 - enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. 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 a303b78af9..4b8f15ab27 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 @@ -66,8 +66,8 @@ attention_lane_curvature_calculation_ds: 0.5 enable_rtc: - intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval - intersection_to_occlusion: true + intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + intersection_to_occlusion: false merge_from_private: stop_line_margin: 3.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml index f550188d4f..c84848f8cc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml @@ -8,4 +8,4 @@ stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area detection_area_length: 200.0 # [m] used to create detection area polygon stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m) - enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index e8e0357daa..a837ae1b46 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -5,4 +5,4 @@ tl_state_timeout: 1.0 yellow_lamp_period: 2.75 enable_pass_judge: true - enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..a1cb2b79f5 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -25,9 +25,6 @@ - - - From 198f929dd6e0585335d38cbcecd30f2891513743 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 09:39:09 +0900 Subject: [PATCH 117/130] feat(avoidance): check if the avoidance path is in drivable area (#584) * feat(avoidance): check if the avoidance path is in drivable area Signed-off-by: satoshi-ota * refactor(avoidance): remove unused param Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5f80c76111..40f10f4805 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 @@ -169,6 +169,7 @@ hard_road_shoulder_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 + max_deviation_from_lane: 0.5 # [m] # avoidance distance parameters longitudinal: prepare_time: 2.0 # [s] @@ -219,12 +220,6 @@ max_jerk: 1.0 # [m/sss] max_acceleration: 1.0 # [m/ss] - target_velocity_matrix: - col_size: 2 - matrix: - [2.78, 13.9, # velocity [m/s] - 0.50, 1.00] # margin [m] - shift_line_pipeline: trim: quantize_filter_threshold: 0.1 From be567283e01842201e912d4e4bfcbd8d99e3131b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 12 Oct 2023 14:31:17 +0900 Subject: [PATCH 118/130] chore(intersection): parameterize stuck vehicle detection turn_direction (#630) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 ++++ 1 file changed, 4 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 4b8f15ab27..23a5a3aaf0 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 @@ -13,6 +13,10 @@ path_interpolation_ds: 0.1 # [m] consider_wrong_direction_vehicle: false stuck_vehicle: + turn_direction: + left: true + right: true + straight: true use_stuck_stopline: true # stopline generated before the first conflicting area stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h From eeccf72060e0c9402699c822c591c35b6b4c761a Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 13 Oct 2023 13:27:14 +0900 Subject: [PATCH 119/130] feat(ndt_scan_matcher): added a new parameter "n_startup_trials" (#602) * Added a new parameter "n_startup_trials" Signed-off-by: Shintaro Sakoda * Changed default `n_startup_trials` to 20 Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- .../config/localization/ndt_scan_matcher.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index cf41a4cf55..0ba1b1a2e1 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -43,6 +43,11 @@ # 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 + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] lidar_topic_timeout_sec: 1.0 From 26148188f74271adbb0f96ceab03d91d564adb9b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 13 Oct 2023 21:31:48 +0900 Subject: [PATCH 120/130] feat(autoware_launch): add yield_stuck.distance_thr in intersection (#628) * feat(autoware_launch): add yield_stuck.distance_thr in intersection Signed-off-by: Takayuki Murooka * use turn_direction Signed-off-by: Takayuki Murooka * update param Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 6 ++++++ 1 file changed, 6 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 23a5a3aaf0..30f4bc7b42 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 @@ -24,6 +24,12 @@ # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true. + yield_stuck: + turn_direction: + left: true + right: false + straight: false + distance_thr: 1.0 # [m] collision_detection: state_transit_margin_time: 1.0 From 5b9dfdbc0a5043ba5c43bddc97ddea9ebff04c22 Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Sat, 14 Oct 2023 10:40:15 +0800 Subject: [PATCH 121/130] feat(duplicated_node_checker): add duplicated_node_checker (#631) * add duplicated_node_checker Signed-off-by: Owen-Liuyuxuan * add arguments for duplicated node checker, required by new PR on the universe Signed-off-by: Owen-Liuyuxuan * fix type Signed-off-by: Owen-Liuyuxuan * add config inside launch Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * the default should be set to 10 Signed-off-by: Owen-Liuyuxuan --------- Signed-off-by: Owen-Liuyuxuan Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../duplicated_node_checker/duplicated_node_checker.param.yaml | 3 +++ .../system_error_monitor/system_error_monitor.param.yaml | 1 + .../system_error_monitor.planning_simulation.param.yaml | 1 + .../launch/components/tier4_system_component.launch.xml | 1 + 4 files changed, 6 insertions(+) create mode 100644 autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml new file mode 100644 index 0000000000..5b8c019de5 --- /dev/null +++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + update_rate: 10.0 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 251486dafd..b8da5f4e7c 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 @@ -38,6 +38,7 @@ /autoware/system/emergency_stop_operation: default /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/duplicated_node_checker: default /autoware/vehicle/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 2c5fe6e8f5..3fd6264376 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 @@ -39,6 +39,7 @@ /autoware/system/emergency_stop_operation: default /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } + /autoware/system/duplicated_node_checker: default /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 1bd74ccbbf..a90fdb89a5 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -10,6 +10,7 @@ + From 807e5c68fd1cef535afac4b0d6408a86d7ba62ea Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Sun, 15 Oct 2023 13:50:13 +0900 Subject: [PATCH 122/130] feat(intersection): ignore decelerating vehicle on amber traffic light (#635) * feat(intersection): ignore decelerating vehicle on amber traffic light Signed-off-by: Mamoru Sobue * tuning Signed-off-by: Mamoru Sobue --------- Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) 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 30f4bc7b42..f37911b35b 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 @@ -39,8 +39,8 @@ collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 2.0 - collision_end_margin_time: 2.0 + collision_start_margin_time: 4.0 + collision_end_margin_time: 6.0 not_prioritized: collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object @@ -50,7 +50,9 @@ yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 3.0 - range: 50.0 # [m] + object_dist_to_stopline: 10.0 # [m] + ignore_on_amber_traffic_light: + object_expected_deceleration: 2.0 # [m/ss] occlusion: enable: false From d95d929a3968c08dc25f95cc83c4260d147f7d11 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 15 Oct 2023 19:31:56 +0900 Subject: [PATCH 123/130] feat(lane_change): add rss paramas for stuck (#633) Signed-off-by: kosuke55 --- .../lane_change/lane_change.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 a090a6d3a8..81004d859a 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 @@ -45,6 +45,14 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 2.5 longitudinal_velocity_delta_time: 0.6 + stuck: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -1.0 + rear_vehicle_reaction_time: 2.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # lane expansion for object filtering lane_expansion: From 307dc94a121f6f22ed7fc810665e1ba3adf9bdfa Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 16 Oct 2023 13:29:39 +0900 Subject: [PATCH 124/130] add tracking object merger for long range radar sensor (#627) * add tracking object merger paramters Signed-off-by: yoshiri * fix typo Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../radar_object_tracker.param.yaml | 27 +++ .../tracking/linear_motion_tracker.yaml | 32 ++++ .../data_association_matrix.param.yaml | 168 ++++++++++++++++++ .../decorative_tracker_merger.param.yaml | 26 +++ ...ecorative_tracker_merger_policy.param.yaml | 16 ++ .../tier4_perception_component.launch.xml | 12 ++ 6 files changed, 281 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml create mode 100644 autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml new file mode 100644 index 0000000000..f80adffb41 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml @@ -0,0 +1,27 @@ +# general parameters for radar_object_tracker node +/**: + ros__parameters: + # basic settings + world_frame_id: "map" + tracker_lifetime: 1.0 # [sec] + # if empty, use default config declared in this package + tracking_config_directory: "" + + # delay compensate parameters + publish_rate: 10.0 + enable_delay_compensation: false + + # logging + enable_logging: false + logging_file_path: "/tmp/association_log.json" + + # filtering + ## 1. distance based filtering: remove closer objects than this threshold + use_distance_based_noise_filtering: true + minimum_range_threshold: 70.0 # [m] + + ## 2. lanelet map based filtering + use_map_based_noise_filtering: true + max_distance_from_lane: 5.0 # [m] + max_angle_diff_from_lane: 0.785398 # [rad] (45 deg) + max_lateral_velocity: 5.0 # [m/s] diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml new file mode 100644 index 0000000000..71367f4575 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml @@ -0,0 +1,32 @@ +default: + # This file defines the parameters for the linear motion tracker. + # All this parameter coordinate is assumed to be in the vehicle coordinate system. + # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle. + ekf_params: + # random walk noise is used to model the acceleration noise + process_noise_std: # [m/s^2] + ax: 0.98 # assume 0.1G acceleration noise + ay: 0.98 + vx: 0.1 # assume 0.1m/s velocity noise + vy: 0.1 + x: 1.0 # assume 1m position noise + y: 1.0 + measurement_noise_std: + x: 0.6 # [m] + y: 0.9 # [m] + vx: 0.4 # [m/s] + vy: 1 # [m/s] + initial_covariance_std: + x: 3.0 # [m] + y: 6.0 # [m] + vx: 1.0 # [m/s] + vy: 5.0 # [m/s] + ax: 0.5 # [m/s^2] + ay: 1.0 # [m/s^2] + # output limitation + limit: + max_speed: 80.0 # [m/s] + # low pass filter is used to smooth the yaw and shape estimation + low_pass_filter: + time_constant: 1.0 # [s] + sampling_time: 0.1 # [s] diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml new file mode 100644 index 0000000000..702809b3ce --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml @@ -0,0 +1,168 @@ +/**: + ros__parameters: + lidar-lidar: + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [0, 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 + 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 + + max_dist_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, #UNKNOWN + 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR + 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK + 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS + 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN + + max_rad_matrix: # If value is greater than pi, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN + [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN + + max_velocity_diff_matrix: # Ignored when value is larger than 100.0 + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN + + min_iou_matrix: # If value is negative, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN + + lidar-radar: + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [0, 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 + 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 + + max_dist_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [4.0, 4.0, 5.0, 5.0, 5.0, 3.5, 3.5, 3.5, #UNKNOWN + 4.0, 5.5, 6.0, 6.0, 6.0, 1.0, 1.0, 1.0, #CAR + 5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #TRUCK + 5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #BUS + 5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #TRAILER + 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE + 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE + 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.5] #PEDESTRIAN + + max_rad_matrix: # If value is greater than pi, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN + [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN + + max_velocity_diff_matrix: # Ignored when value is larger than 100.0 + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN + + min_iou_matrix: # set all value to 0.0 to disable this constraint + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #UNKNOWN + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #CAR + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRUCK + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BUS + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRAILER + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #MOTORBIKE + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BICYCLE + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #PEDESTRIAN + + radar-radar: + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [0, 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 + 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 + + max_dist_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [4.0, 4.0, 5.0, 5.0, 5.0, 3.5, 3.5, 3.5, #UNKNOWN + 4.0, 7.0, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #CAR + 5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #TRUCK + 5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #BUS + 5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #TRAILER + 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE + 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE + 3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.5] #PEDESTRIAN + max_rad_matrix: # If value is greater than pi, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN + [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN + + max_velocity_diff_matrix: # Ignored when value is larger than 100.0 + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS + 100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE + 100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN + + min_iou_matrix: # set all value to 0.0 to disable this constraint + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #UNKNOWN + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #CAR + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRUCK + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BUS + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRAILER + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #MOTORBIKE + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BICYCLE + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #PEDESTRIAN 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 new file mode 100644 index 0000000000..13369d5422 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml @@ -0,0 +1,26 @@ +# Node parameters +/**: + ros__parameters: + base_link_frame_id: "base_link" + time_sync_threshold: 0.999 + sub_object_timeout_sec: 0.8 + publish_interpolated_sub_objects: true #for debug + + # choose the input sensor type for each object type + # "lidar", "radar", "camera" are available + main_sensor_type: "lidar" + sub_sensor_type: "radar" + + # tracker settings + tracker_state_parameter: + remove_probability_threshold: 0.3 + publish_probability_threshold: 0.5 + default_lidar_existence_probability: 0.7 + default_radar_existence_probability: 0.6 + default_camera_existence_probability: 0.5 + decay_rate: 0.1 + max_dt: 1.0 + + # logging + enable_logging: false + log_file_path: "/tmp/decorative_tracker_merger.log" diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml new file mode 100644 index 0000000000..0b98e1b202 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml @@ -0,0 +1,16 @@ +# Merger policy for decorative tracker merger node +# decorative tracker merger works by merging the sub-object trackers into a main object tracker result +# There are 3 merger policy: +# 1. "skip": skip the sub-object tracker result +# 2. "overwrite": overwrite the main object tracker result with sub-object tracker result +# 3. "fusion": merge the main object tracker result with sub-object tracker result by using covariance based fusion +/**: + ros__parameters: + kinematics_to_be_merged: "velocity" # currently only support "velocity" + + # choose the merger policy for each object type + # : "skip", "overwrite", "fusion" + kinematics_merge_policy: "overwrite" + classification_merge_policy: "skip" + existence_prob_merge_policy: "skip" + shape_merge_policy: "skip" diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 1ec8f2c22f..e3df873492 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -81,6 +81,18 @@ name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml" /> + + + Date: Mon, 16 Oct 2023 17:23:18 +0900 Subject: [PATCH 125/130] feat(behavior_path_planner): curvature based drivable area expansion (#632) * Modify parameters for curvature based dynamic drivable area expansion Signed-off-by: Maxime CLEMENT * Add parameter to enable/disable printing the runtime Signed-off-by: Maxime CLEMENT * Add smoothing.extra_arc_length param Signed-off-by: Maxime CLEMENT --------- Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.param.yaml | 29 +++++++++---------- 1 file changed, 13 insertions(+), 16 deletions(-) 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 160ebdc180..940bb82a59 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 @@ -5,15 +5,19 @@ drivable_area_left_bound_offset: 0.0 drivable_area_types_to_skip: [road_border] - # Dynamic expansion by projecting the ego footprint along the path + # Dynamic expansion by using the path curvature dynamic_expansion: - enabled: false + enabled: true + print_runtime: false + max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + 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 ego: - extra_footprint_offset: - front: 0.5 # [m] extra length to add to the front of the ego footprint - rear: 0.5 # [m] extra length to add to the rear of the ego footprint - left: 0.5 # [m] extra length to add to the left of the ego footprint - right: 0.5 # [m] extra length to add to the rear of the ego footprint + 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 + extra_width: 1.0 # [m] extra length to add to the width dynamic_objects: avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: @@ -24,16 +28,9 @@ path_preprocessing: max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used) - expansion: - method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. - # 'lanelet': add lanelets overlapped by the ego footprints - # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area - max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) - extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint + reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused. avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - road_border + - curbstone distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid - compensate: - enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction - extra_distance: 3.0 # [m] extra distance to add to the compensation From 434f95a1037d777b2e3ee5ded041449397d5da9b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 16 Oct 2023 18:10:13 +0900 Subject: [PATCH 126/130] feat(lane_change): change stuck velocity to 0.5 (#636) Signed-off-by: kosuke55 --- .../behavior_path_planner/lane_change/lane_change.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/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 81004d859a..e09f6e479b 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 @@ -90,7 +90,7 @@ # ego vehicle stuck detection stuck_detection: - velocity: 0.1 # [m/s] + velocity: 0.5 # [m/s] stop_time: 3.0 # [s] # lane change cancel From 06cd7431e27a5fd0aaff3c881d79f7158e74a567 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 17 Oct 2023 12:12:43 +0900 Subject: [PATCH 127/130] fix(tier4_simulator_component): add lacked param path (#640) Signed-off-by: satoshi-ota --- .../tier4_simulator_component.launch.xml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index f243414555..02f9a8243c 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -44,5 +44,26 @@ + + + + + + From 76dcd5435904f19b8f22baf06749cb6b86605bd4 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 17 Oct 2023 13:06:07 +0900 Subject: [PATCH 128/130] fix(drivable_area_expansion): disable by default (#639) 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 940bb82a59..e1a0c7e38d 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 @@ -7,7 +7,7 @@ # Dynamic expansion by using the path curvature dynamic_expansion: - enabled: true + enabled: false print_runtime: false max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) smoothing: From 7d3f1d2359402f73b29762c05e8e4a8e58fb388a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 17 Oct 2023 14:08:25 +0900 Subject: [PATCH 129/130] fix(intersection): lower state_transit_margi_time to 0 (#638) 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 f37911b35b..11bdedf0d1 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 @@ -32,7 +32,7 @@ distance_thr: 1.0 # [m] collision_detection: - state_transit_margin_time: 1.0 + state_transit_margin_time: 0.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] fully_prioritized: From 5d8a2f0d6cfd715c6ef01daa007e3748edbf6b7a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 17 Oct 2023 19:08:37 +0900 Subject: [PATCH 130/130] feat(avoidance): add paramenters for dynamic detection area (#634) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 9 +++++++-- 1 file changed, 7 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 40f10f4805..fe9c37d200 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 @@ -118,8 +118,6 @@ object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range - object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 10.0 # [m] object_check_goal_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] @@ -128,6 +126,13 @@ # lost object compensation object_last_seen_threshold: 2.0 + # detection area generation parameters + detection_area: + static: false # [-] + min_forward_distance: 50.0 # [m] + max_forward_distance: 150.0 # [m] + backward_distance: 10.0 # [m] + # For safety check safety_check: # safety check configuration