From ea978fab7c2009a8908ea3ed3edf1266910948d2 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 19 Jan 2024 13:46:13 +0900 Subject: [PATCH 1/9] Add parameters Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) 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 921b728a34..f5b493e28d 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 @@ -69,3 +69,13 @@ bicycle: true # [-] whether to look and stop by BICYCLE objects motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.) pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects + + # param for occlusions + occlusion: + enable: true # if true, ego will slowdown around crosswalks that are occluded + slow_down_velocity: 1.0 # [m/s] + time_buffer: 1.0 # [s] consecutive time with/without an occlusion to add/remove the slowdown + min_size: 0.5 # [m] minimum size of an occlusion (square side size) + detection_range: 8.0 # [m] distance away from the crosswalk-ego path intersection that is checked for occlusion + free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid + occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid From 03157e0235b31e67679c161487ad27a43265b80d Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Mon, 22 Jan 2024 15:14:43 +0900 Subject: [PATCH 2/9] rm detection_range, add occluded_object_velocity Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index f5b493e28d..9b4df7afd0 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 @@ -73,9 +73,9 @@ # param for occlusions occlusion: enable: true # if true, ego will slowdown around crosswalks that are occluded + occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 1.0 # [s] consecutive time with/without an occlusion to add/remove the slowdown min_size: 0.5 # [m] minimum size of an occlusion (square side size) - detection_range: 8.0 # [m] distance away from the crosswalk-ego path intersection that is checked for occlusion free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid From 8e92742d1f728a34deae36ab715c1314240c9db0 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Mon, 22 Jan 2024 22:09:02 +0900 Subject: [PATCH 3/9] add ignore_with_traffic_light Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 9b4df7afd0..cac4985358 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 @@ -79,3 +79,4 @@ min_size: 0.5 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid + ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored \ No newline at end of file From b13ff732fa124ec33c64b93c3205adfba95bf7fd Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 22 Jan 2024 13:10:58 +0000 Subject: [PATCH 4/9] style(pre-commit): autofix Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index cac4985358..d401981cdb 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 @@ -79,4 +79,4 @@ min_size: 0.5 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid - ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored \ No newline at end of file + ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored From ad7ef09b7345bf8d5710fc804c8154560b287124 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Wed, 24 Jan 2024 14:32:33 +0900 Subject: [PATCH 5/9] Add parameters for masking behind predicted objects Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 d401981cdb..2c27460eae 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 @@ -80,3 +80,6 @@ free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored + ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored + min_objects_velocity: 0.5 # [m/s] minimum velocity for a predicted object to be ignored + extra_objects_size: 0.5 # [m] extra size added to the objects when masking the occlusions From 1a41807440889586fb5526d68e9e31cf87c57eab Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 26 Jan 2024 09:59:43 +0900 Subject: [PATCH 6/9] add param to NOT ignore behind pedestrians Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 2c27460eae..6c428ed414 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 @@ -81,5 +81,6 @@ occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored - min_objects_velocity: 0.5 # [m/s] minimum velocity for a predicted object to be ignored - extra_objects_size: 0.5 # [m] extra size added to the objects when masking the occlusions + do_not_ignore_behind_pedestrians: true # [-] if true, occlusions behind pedestrians are not ignored + ignore_velocity_threshold: 0.5 # [m/s] minimum velocity for a predicted object to be ignored + extra_predicted_objects_size: 0.5 # [m] extra size added to the objects for masking the occlusions From 44709accfd73d8b22398e3bb6b2ae884e73d122b Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 26 Jan 2024 15:12:36 +0900 Subject: [PATCH 7/9] Change params to set the ignore vel threshold for each label Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 6c428ed414..816a40e6d0 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 @@ -81,6 +81,8 @@ occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored - do_not_ignore_behind_pedestrians: true # [-] if true, occlusions behind pedestrians are not ignored - ignore_velocity_threshold: 0.5 # [m/s] minimum velocity for a predicted object to be ignored + ignore_velocity_thresholds: + default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity + custom_labels: ["PEDESTRIAN"] # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels) + custom_thresholds: [0.0] # velocities of the custom labels extra_predicted_objects_size: 0.5 # [m] extra size added to the objects for masking the occlusions From c772d1acdc84e1ea5ca8f845865b329d5ae167dc Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 2 Feb 2024 17:09:46 +0900 Subject: [PATCH 8/9] update time buffer 1.0 -> 0.5s Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 816a40e6d0..72fb38fb7a 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 @@ -75,7 +75,7 @@ enable: true # if true, ego will slowdown around crosswalks that are occluded occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] - time_buffer: 1.0 # [s] consecutive time with/without an occlusion to add/remove the slowdown + time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown min_size: 0.5 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid From d6219bbdd817030a860d6eb9086e4dce7d2303c0 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Sat, 3 Feb 2024 10:47:19 +0900 Subject: [PATCH 9/9] rename ignore_with_traffic_light -> ignore_with_red_traffic_light Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 72fb38fb7a..16db44bb33 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 @@ -79,7 +79,7 @@ min_size: 0.5 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid - ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored + ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored ignore_velocity_thresholds: default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity