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Merge pull request autowarefoundation#262 from tier4/beta-to-tier4-ma…
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…in-sync

chore: sync beta branch beta/v0.19.0 with tier4/main
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tier4-autoware-public-bot[bot] authored Dec 25, 2023
2 parents ace1232 + 631edec commit 0633f13
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Showing 13 changed files with 219 additions and 27 deletions.
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Expand Up @@ -3,3 +3,9 @@
input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
timeout_ms: 70.0
match_threshold_ms: 50.0
filter_scope_min_x: -100.0
filter_scope_min_y: -100.0
filter_scope_min_z: -100.0
filter_scope_max_x: 100.0
filter_scope_max_y: 100.0
filter_scope_max_z: 100.0
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Expand Up @@ -15,4 +15,9 @@
enable_delay_compensation: true
pass_through_unknown_objects: false
publish_untracked_objects: false
debug_flag: false

# debug parameters
publish_processing_time: false
publish_tentative_objects: false
diagnostic_warn_delay: 0.5 # [sec]
diagnostic_error_delay: 1.0 # [sec]
3 changes: 0 additions & 3 deletions autoware_launch/config/planning/preset/default_preset.yaml
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Expand Up @@ -30,9 +30,6 @@ launch:
- arg:
name: launch_side_shift_module
default: "true"
- arg:
name: use_experimental_lane_change_function
default: "true"

# behavior velocity modules
- arg:
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Expand Up @@ -7,6 +7,10 @@
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]

slow_down:
min_acc: -1.0 # min deceleration [m/ss]
min_jerk: -1.0 # min jerk [m/sss]

# constraints to be observed
limit:
min_acc: -2.5 # min deceleration limit [m/ss]
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Expand Up @@ -216,7 +216,7 @@
return_dead_line:
goal:
enable: true # [-]
buffer: 30.0 # [m]
buffer: 25.0 # [m]
traffic_light:
enable: true # [-]
buffer: 3.0 # [m]
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Expand Up @@ -8,4 +8,5 @@
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
opposite_adjacent_extend_width: 1.5 # [m]
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.
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Expand Up @@ -9,7 +9,7 @@

# param for stop position
stop_position:
stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding
stop_position_threshold: 1.0 # [m] If the ego vehicle has stopped near the stop line than this value, this module assumes itself to have achieved yielding.

# For the Lanelet2 map with no explicit stop lines
stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
Expand All @@ -18,24 +18,24 @@
# For the case where the stop position is determined according to the object position.
stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin

# param for ego's slow down velocity
# params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
slow_down:
min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)

# param for stuck vehicles
# params to prevent stopping on crosswalks due to another vehicle ahead
stuck_vehicle:
enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind 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]
stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
min_acc: -1.0 # min acceleration [m/ss]
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]

# param for pass judge logic
# params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
pass_judge:
ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
Expand All @@ -44,25 +44,26 @@
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

no_stop_decision:
no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
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]
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
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
# if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
disable_stop_for_yield_cancel: false # for the crosswalks with traffic signal
disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
# If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.

# param for target object filtering
object_filtering:
crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
target_object:
unknown: true # [-] whether to look and stop by UNKNOWN objects
bicycle: true # [-] whether to look and stop by BICYCLE objects
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Expand Up @@ -29,9 +29,9 @@
yield_stuck:
turn_direction:
left: true
right: false
right: true
straight: false
distance_threshold: 1.0
distance_threshold: 5.0

collision_detection:
consider_wrong_direction_vehicle: false
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Expand Up @@ -3,6 +3,7 @@
run_out:
detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
use_partition_lanelet: true # [-] whether to use partition lanelet map data
suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates
stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
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Expand Up @@ -3,6 +3,7 @@
traffic_light:
stop_margin: 0.0
tl_state_timeout: 1.0
stop_time_hysteresis: 0.1
yellow_lamp_period: 2.75
enable_pass_judge: true
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
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Expand Up @@ -3,7 +3,7 @@
<let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
<arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
<arg name="input_pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>

<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
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Expand Up @@ -39,6 +39,10 @@
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_multi_object_tracker_node_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
/>
<arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
<arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
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174 changes: 173 additions & 1 deletion autoware_launch/rviz/autoware.rviz
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Expand Up @@ -3451,7 +3451,179 @@ Visualization Manager:
Enabled: true
Name: Perception
- Class: rviz_common/Group
Displays: ~
Displays:
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: LaneChangeLeft
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/lane_change_left
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: LaneChangeRight
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/lane_change_right
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: AvoidanceLeft
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/avoidance_left
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: AvoidanceRight
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/avoidance_right
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: AvoidanceByLCLeft
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: AvoidanceByLCRight
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: StartPlanner
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/start_planner
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: GoalPlanner
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/goal_planner
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Crosswalk
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/crosswalk
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Intersection
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/intersection
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: BlindSpot
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/blind_spot
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: TrafficLight
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/traffic_light
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: DetectionArea
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/detection_area
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: NoStoppingArea
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/no_stopping_area
Value: true
Enabled: true
Name: Objects Of Interest
Enabled: true
Name: Planning
- Class: rviz_common/Group
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