Merge pull request autowarefoundation#618 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
maxime-clem · Sep 7, 2023 · 8bf5835 · 8bf5835
2 parents 1984104 + 8a867ce
commit 8bf5835
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Showing 4 changed files with 126 additions and 3 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/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

diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...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.
@@ -17,7 +16,7 @@
         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
@@ -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
@@ -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/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_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
diff --git a/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/..._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