From 92e464f8f89bc9874479421a70e8ffa8df6aca5d Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 31 Aug 2023 11:43:31 +0900 Subject: [PATCH 001/128] 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 e7ffb62beda428008119e88f8021200970601666 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Mon, 11 Sep 2023 13:06:45 +0900 Subject: [PATCH 002/128] chore(intersection): enable occlusion (#412) Signed-off-by: Tomohito Ando --- .../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 83d188719a..c228d3cf9c 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 @@ -34,7 +34,7 @@ keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: - enable: false + enable: true occlusion_attention_area_length: 70.0 # [m] enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line From 77c3494efaa00ebd994a484c84ed6ef062e79adc Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 5 Sep 2023 10:08:29 +0900 Subject: [PATCH 003/128] feat(behavior_path_planner): add curbstone to avoid linestring (#398) Signed-off-by: Makoto Kurihara --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 e6fab6e5aa..cb477057d8 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 @@ -31,6 +31,7 @@ avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - road_border + - curbstone distance: 0.3 # [m] distance to keep between the drivable area and the linestrings to avoid compensate: enable: false # 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 From d9c4b77c81b6684effd19a7ac21d562265669105 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Sep 2023 23:37:28 +0900 Subject: [PATCH 004/128] fix(autoware_launch): revert obstacle_avoidance_planner parameter (#404) Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 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 0a44d8aabd..a96971fe84 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 @@ -51,7 +51,7 @@ # If this parameter is commented out, the parameter is set as below by default. # The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8` # The 0.8 scale is adopted as it performed the best. - optimization_center_offset: 2.0 # optimization center offset from base link + optimization_center_offset: 0.0 # optimization center offset from base link clearance: # clearance(distance) between vehicle and roads/objects when generating trajectory # if collision_free_constraints.option.hard_constraint is true From f6cf9c74babb41f6f5e171984d23bffa6805c37a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 12 Sep 2023 22:21:37 +0900 Subject: [PATCH 005/128] feat(autoware_launch): sparse optimization path planning Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 a96971fe84..da4ecab65b 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 @@ -44,8 +44,8 @@ enable_optimization_validation: false common: - num_points: 100 # number of points for optimization [-] - delta_arc_length: 0.5 # delta arc length for optimization [m] + num_points: 50 # number of points for optimization [-] + delta_arc_length: 1.0 # delta arc length for optimization [m] kinematics: # If this parameter is commented out, the parameter is set as below by default. From e0c3c1f201d4af9cb7139243d8b97689ef1ae509 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 12 Sep 2023 23:15:41 +0900 Subject: [PATCH 006/128] feat(autoware_launch): add stop_on_curve feature in obstacle_cruise_planner 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 a01df1447c..4b422fa7d0 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: true + additional_safe_distance_margin: 2.0 # [m] + min_safe_distance_margin: 3.5 # [m] suppress_sudden_obstacle_stop: true stop_obstacle_type: From ed947d45989f9fe5c250f5e186f4016395bcaca4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 13 Sep 2023 13:35:30 +0900 Subject: [PATCH 007/128] feat(autoware_launch): not keep stopped for steering convergence (#410) Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 63c73e9fb6..5aec1c7ef2 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: true enable_large_tracking_error_emergency: true enable_slope_compensation: true - enable_keep_stopped_until_steer_convergence: true + enable_keep_stopped_until_steer_convergence: false # state transition drive_state_stop_dist: 0.5 From 313327e60781b9d5710a29574dafc80cc6df06f1 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:51:02 +0900 Subject: [PATCH 008/128] chore: cherry pick misc (#423) * chore: remove unknown object form avoidance target (#391) * Adjust parameters according to vehicle size * chore: display virtul wall of obstacle cruise slowdown (#407) display virtul wall of obstacle cruise slowdown * fix: lidar_model_param_path (#388) * fix: lidar_model_param_path * chore: move * chore: delete unused param --------- Co-authored-by: Shohei Sakai --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- .../obstacle_cruise_planner.param.yaml | 4 ++-- autoware_launch/launch/autoware.launch.xml | 1 - .../launch/components/tier4_perception_component.launch.xml | 4 ++-- autoware_launch/launch/logging_simulator.launch.xml | 2 -- autoware_launch/rviz/autoware.rviz | 4 ++-- 6 files changed, 7 insertions(+), 10 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 97658262a0..e7d59aecb5 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 @@ -68,7 +68,7 @@ safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 unknown: - is_target: true + is_target: false execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 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 a01df1447c..3409e2d250 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 @@ -96,7 +96,7 @@ max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego slow_down: - max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2 successive_num_to_entry_slow_down_condition: 5 @@ -169,7 +169,7 @@ slow_down: # parameters to calculate slow down velocity by linear interpolation min_lat_margin: 0.2 - max_lat_margin: 1.0 + max_lat_margin: 0.7 min_ego_velocity: 2.0 max_ego_velocity: 8.0 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4fb0c0bede..d4ece803de 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -41,7 +41,6 @@ - diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index f2acba895e..dd39fb2141 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -21,7 +21,7 @@ - + @@ -71,7 +71,7 @@ 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" /> - + - @@ -69,7 +68,6 @@ - diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 915a296d79..f1173bfbd5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2223,7 +2223,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall Value: true - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: DebugMarker Namespaces: {} @@ -2234,7 +2234,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker Value: true - Enabled: false + Enabled: true Name: ObstacleCruise - Class: rviz_default_plugins/MarkerArray Enabled: false From cd1081a167b22fc90a90af1af952dc731a61f029 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 009/128] 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 915a296d79..c3f10d6d0e 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -321,6 +321,22 @@ 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 d4092e94e28c284d333df04e511616d272aabc68 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 18:02:55 +0900 Subject: [PATCH 010/128] feat(ekf_localizer): disable yaw bias estimation (#422) 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 4d3f5b9643..6b349c7dab 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: false predict_frequency: 50.0 tf_rate: 50.0 extend_state_step: 50 From ce085ef585a05e23f64d59644d6be91117fac6ff Mon Sep 17 00:00:00 2001 From: kminoda Date: Wed, 13 Sep 2023 18:07:49 +0900 Subject: [PATCH 011/128] hotfix(rviz): visualize mrm summary by default Signed-off-by: kminoda --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index f2f237603c..5e52592d98 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -322,7 +322,7 @@ Visualization Manager: Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay - Enabled: false + Enabled: true Font Size: 10 Left: 512 Max Letter Num: 100 From 73c18e58c011752c6eeeda8fe56f2796e0840bbf Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 14 Sep 2023 15:06:41 +0900 Subject: [PATCH 012/128] fix(planning_launch): fix lane change param Signed-off-by: Fumiya Watanabe --- .../lane_change/lane_change.param.yaml | 18 +++++++++--------- 1 file changed, 9 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 b9f03f6b9f..6193fd7de1 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 @@ -7,9 +7,9 @@ backward_length_buffer_for_end_of_lane: 0.5 # [m] lane_change_finish_judge_buffer: 0.0 # [m] - lane_changing_lateral_jerk: 0.75 # [m/s3] + lane_changing_lateral_jerk: 0.5 # [m/s3] - minimum_lane_changing_velocity: 1.0 # [m/s] + minimum_lane_changing_velocity: 1.5 # [m/s] prediction_time_resolution: 0.5 # [s] longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 @@ -34,7 +34,7 @@ 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 + lateral_distance_max_threshold: 1.5 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 @@ -42,7 +42,7 @@ lateral_acceleration: velocity: [0.0, 4.0, 10.0] min_values: [0.15, 0.15, 0.15] - max_values: [1.25, 1.25, 1.25] + max_values: [1.0, 0.75, 0.5] # target object target_object: @@ -50,7 +50,7 @@ truck: true bus: true trailer: true - unknown: true + unknown: false bicycle: true motorcycle: true pedestrian: true @@ -58,14 +58,14 @@ # collision check enable_prepare_segment_collision_check: false prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] - check_objects_on_current_lanes: true - check_objects_on_other_lanes: true - use_all_predicted_path: true + check_objects_on_current_lanes: false + check_objects_on_other_lanes: false + use_all_predicted_path: false # lane change cancel cancel: enable_on_prepare_phase: true - enable_on_lane_changing_phase: true + enable_on_lane_changing_phase: false delta_time: 1.0 # [s] duration: 5.0 # [s] max_lateral_jerk: 100.0 # [m/s3] From a6198c69d87745056ce39addd2d66b0725304a40 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 15 Sep 2023 13:06:49 +0900 Subject: [PATCH 013/128] chore(tier4_simulator_component): change namespace1 to camera7 (#426) (#428) 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 5f8c7256e0..0e395f7251 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -26,6 +26,7 @@ + Date: Fri, 15 Sep 2023 13:44:47 +0900 Subject: [PATCH 014/128] feat(autoware_launch): update planning control parameters Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/lateral/mpc.param.yaml | 2 +- .../behavior_path_planner/scene_module_manager.param.yaml | 2 +- .../behavior_velocity_planner/crosswalk.param.yaml | 6 +++--- .../rtc_auto_mode_manager.param.yaml | 8 ++++---- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 8e28e37780..8a21f158bf 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -7,7 +7,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) 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 c48943bc9d..b28b2adee8 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 @@ -68,7 +68,7 @@ max_module_size: 1 avoidance_by_lc: - enable_module: true + enable_module: false enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false 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..948e512be2 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 @@ -52,9 +52,9 @@ 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 - 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. + disable_stop_for_yield_cancel: true # for the crosswalk where there is a traffic signal + disable_yield_for_new_stopped_object: true # for the crosswalk where there is a traffic signal + timeout_no_intention_to_walk: 1.0 # [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. 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 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_auto_mode_manager/rtc_auto_mode_manager.param.yaml index c0e3e147dc..8f16690498 100644 --- 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_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -11,8 +11,8 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" - - "avoidance_by_lane_change_left" - - "avoidance_by_lane_change_right" + # - "avoidance_by_lane_change_left" + # - "avoidance_by_lane_change_right" - "goal_planner" - "start_planner" - "intersection_occlusion" @@ -28,8 +28,8 @@ - "lane_change_right" # - "avoidance_left" # - "avoidance_right" - - "avoidance_by_lane_change_left" - - "avoidance_by_lane_change_right" + # - "avoidance_by_lane_change_left" + # - "avoidance_by_lane_change_right" - "goal_planner" - "start_planner" - "intersection_occlusion" From 78e498742ba534bcfd7ef6113f6d1ba8b3ad224f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 15 Sep 2023 13:45:29 +0900 Subject: [PATCH 015/128] fix Signed-off-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 8a21f158bf..8e28e37780 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -7,7 +7,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: true # flag for path smoothing + enable_path_smoothing: false # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) From be1a905c595c680e880a00b9b95255ebca3aa798 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 18 Sep 2023 04:10:40 +0900 Subject: [PATCH 016/128] feat(autoware_launch): additional margin parameters in surround obstacle checker (#557) (#411) 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 4834a7c673..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: false # 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 4ca689f78d716b1fbf5e426ecf52fb879c457d0f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 18 Sep 2023 04:15:03 +0900 Subject: [PATCH 017/128] fix: harder engage on driving (#415) * fix(autoware_launch): strict engage-on-driving condition Signed-off-by: Takayuki Murooka * update some parameters Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../operation_mode_transition_manager.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) 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..035bb51474 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 @@ -1,13 +1,13 @@ /**: ros__parameters: - transition_timeout: 10.0 + transition_timeout: 6.0 frequency_hz: 10.0 - check_engage_condition: false # set false if you do not want to care about the engage condition. + check_engage_condition: true # 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 engage_acceptable_limits: allow_autonomous_in_stopped: true # no check if the velocity is zero, always allowed. - dist_threshold: 1.5 + dist_threshold: 0.5 yaw_threshold: 0.524 speed_upper_threshold: 10.0 speed_lower_threshold: -10.0 @@ -15,8 +15,8 @@ lateral_acc_threshold: 1.0 lateral_acc_diff_threshold: 0.5 stable_check: - duration: 0.1 - dist_threshold: 1.5 + duration: 3.0 + dist_threshold: 0.5 speed_upper_threshold: 2.0 speed_lower_threshold: -2.0 yaw_threshold: 0.262 From b389e0ea821a6fd0c42228a8d8d96123e62b8342 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 18 Sep 2023 04:19:35 +0900 Subject: [PATCH 018/128] feat(goal_planner): do not use minimum_request_length for fixed goal (#546) (#403) 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 … (#546) feat(goal_planner): do not use minimum_request_length for fixed goal planner Signed-off-by: kosuke55 * feat(interface): add new option `keep_last` (#543) feat(planner_manager): keep last module Signed-off-by: satoshi-ota * feat(behavior_path_planner): use length calculated from ego velocity only Signed-off-by: Makoto Kurihara --------- Signed-off-by: kosuke55 Signed-off-by: satoshi-ota Signed-off-by: Makoto Kurihara Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Makoto Kurihara --- .../goal_planner/goal_planner.param.yaml | 2 +- .../scene_module_manager.param.yaml | 10 ++++++++++ 2 files changed, 11 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 6cd6b1f06d..d9d897c964 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: 10.0 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: 0.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 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 b28b2adee8..2fd1229aa2 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: false + 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: false + 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: false + 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: false + keep_last: false priority: 6 max_module_size: 1 @@ -40,6 +44,7 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: false 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: false 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 70fe82410eed3b04e408c5cdbb1b770f97239736 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 019/128] 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 dd39fb2141..97dee38d66 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -29,16 +29,11 @@ - - Date: Tue, 19 Sep 2023 10:21:47 +0900 Subject: [PATCH 020/128] fix: disable unused roi_based_clustering for x2 Signed-off-by: badai-nguyen --- .../launch/components/tier4_perception_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 97dee38d66..1dbc02d7d5 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -27,6 +27,8 @@ + + Date: Thu, 21 Sep 2023 12:37:01 +0900 Subject: [PATCH 021/128] fix(avoidance): increase safety check width (#434) 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 e7d59aecb5..7bf3ea1884 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 @@ -150,7 +150,7 @@ 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: 0.75 # [m] + lateral_distance_max_threshold: 1.25 # [m] longitudinal_distance_min_threshold: 3.0 # [m] longitudinal_velocity_delta_time: 0.8 # [s] From a032fb2d8533485ba28bd1fda65e646fea45a124 Mon Sep 17 00:00:00 2001 From: kminoda Date: Thu, 21 Sep 2023 13:13:49 +0900 Subject: [PATCH 022/128] feat(ekf_localizer): ignore dead band of velocity sensor Signed-off-by: kminoda --- 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 6b349c7dab..251337ecb0 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -21,3 +21,6 @@ proc_stddev_yaw_c: 0.005 proc_stddev_vx_c: 10.0 proc_stddev_wz_c: 5.0 + + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s] \ No newline at end of file From 6bb305b26a2807ff2cf1104b05931c6a730311fe Mon Sep 17 00:00:00 2001 From: kminoda Date: Thu, 21 Sep 2023 04:16:17 +0000 Subject: [PATCH 023/128] style(pre-commit): autofix --- 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 251337ecb0..c4b6d523f3 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -23,4 +23,4 @@ proc_stddev_wz_c: 5.0 # for velocity measurement limitation (Set 0.0 if you want to ignore) - threshold_observable_velocity_mps: 0.0 # [m/s] \ No newline at end of file + threshold_observable_velocity_mps: 0.0 # [m/s] From d3a4bae3069e630371cb555c35d583d091c6e78d Mon Sep 17 00:00:00 2001 From: kminoda Date: Thu, 21 Sep 2023 13:21:39 +0900 Subject: [PATCH 024/128] feat(ekf_lolicazer): add diagnostics parameters --- .../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 c4b6d523f3..07a9edc1e8 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -22,5 +22,11 @@ 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 + # for velocity measurement limitation (Set 0.0 if you want to ignore) threshold_observable_velocity_mps: 0.0 # [m/s] From 03da1ae7d39ce0923a14690e33c82467fcb9740a Mon Sep 17 00:00:00 2001 From: kminoda Date: Thu, 21 Sep 2023 13:23:21 +0900 Subject: [PATCH 025/128] update default parameter of threshold_observable_velocity_mps in EKF 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 07a9edc1e8..c470003de5 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -29,4 +29,4 @@ 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] + threshold_observable_velocity_mps: 0.5 # [m/s] From c44c5e588e3d468201b415c406abf9bb5ea6068c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 21 Sep 2023 14:05:53 +0900 Subject: [PATCH 026/128] tuning for shiojiri (#432) Signed-off-by: Mamoru Sobue --- .../occupancy_grid_map/binary_bayes_filter_updater.param.yaml | 2 +- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml index 4e335e3574..6237b6fed6 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml @@ -5,4 +5,4 @@ occupied_to_free: 0.05 free_to_occupied: 0.2 free_to_free: 0.8 - v_ratio: 10.0 + v_ratio: 4.5 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 c228d3cf9c..ded9cd2aef 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 @@ -44,7 +44,7 @@ do_dp: true before_creep_stop_time: 0.1 # [s] min_vehicle_brake_for_rss: -2.5 # [m/s^2] - max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph + max_vehicle_velocity_for_rss: 13.88 # [m/s] == 60kmph 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 From 84d19aab07751f0c52ef077efac48442cc57d6b3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 22 Sep 2023 08:47:38 +0900 Subject: [PATCH 027/128] feat(autoware_launch): disable unknown object Signed-off-by: Takayuki Murooka --- .../surround_obstacle_checker.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 5ec10572ff..e82ca62052 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 @@ -9,7 +9,7 @@ surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 unknown: - enable_check: true + enable_check: false surround_check_front_distance: 0.5 surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 From 6d56402731da76774b42ab5fe94d3451ca07d9dc Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 23 Sep 2023 01:24:33 +0900 Subject: [PATCH 028/128] feat(autoware_launch): disable intersection_occlusion Signed-off-by: Takayuki Murooka --- .../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 ded9cd2aef..1b8b50f8d4 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 @@ -34,7 +34,7 @@ keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: - enable: true + enable: false occlusion_attention_area_length: 70.0 # [m] enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line From 092baeb6c10c56affde0e1307af166e2cdcb9db4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 24 Sep 2023 00:13:51 +0900 Subject: [PATCH 029/128] feat(autoware_launch): set enable_outside_drivable_area_stop to false Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 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 a96971fe84..60e86f8908 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 @@ -3,7 +3,7 @@ option: enable_skip_optimization: false # skip elastic band and model predictive trajectory enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result. - enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area + enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered. debug: From bffc25ffec1501b6a3bf9ac26a5eb137c3d7ae86 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 10:53:45 +0900 Subject: [PATCH 030/128] 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 ded9cd2aef..b0441a0e0c 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 @@ -57,3 +57,4 @@ merge_from_private: stop_line_margin: 0.5 stop_duration_sec: 1.0 + stop_distance_threshold: 1.0 From 71f254b50e855ccfb4ac8eeaebf8cadcc2e9242f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 11:37:11 +0900 Subject: [PATCH 031/128] fix(autoware_launch): improve stop decision in out_of_lane Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/out_of_lane.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 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 dd4c1c6102..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 @@ -34,6 +33,7 @@ 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 2846b20e57194dc7ccfd14a5da78f233fbc5d321 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 11:38:42 +0900 Subject: [PATCH 032/128] fix(autoware_launch): stabler drivable area expansion Signed-off-by: Takayuki Murooka --- .../drivable_area_expansion.param.yaml | 9 ++++++++- 1 file changed, 8 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 cb477057d8..3ade2bcd2a 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 @@ -8,6 +8,7 @@ # Dynamic expansion by projecting the ego footprint along the path dynamic_expansion: enabled: true + debug_print: false # if true, print some debug runtime measurements ego: extra_footprint_offset: front: 1.5 # [m] extra length to add to the front of the ego footprint @@ -21,12 +22,14 @@ 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: 80.0 # [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: 80.0 # [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 @@ -36,3 +39,7 @@ compensate: enable: false # 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 + replan_checker: + enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly + # not compatible with dynamic_objects.avoid + max_deviation: 1.0 # [m] full replan is only done if the path changes by more than this distance From 246edff5ec4f56fca86a806ea1c44c7e7bceb30e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Sep 2023 00:52:00 +0900 Subject: [PATCH 033/128] feat(autoware_launch): tune merge_from_private Signed-off-by: Takayuki Murooka --- .../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 97c00d3ec5..46f12a2d43 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 @@ -55,6 +55,6 @@ intersection_to_occlusion: true merge_from_private: - stop_line_margin: 0.5 + stop_line_margin: 1.0 stop_duration_sec: 1.0 stop_distance_threshold: 1.0 From bd3a50535653f6bba8e2e78c268586bc1029a036 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 22 Sep 2023 16:39:41 +0900 Subject: [PATCH 034/128] 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 6193fd7de1..b57ae2af65 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: false use_all_predicted_path: false + # lane change regulations + regulation: + crosswalk: false + intersection: false + # lane change cancel cancel: enable_on_prepare_phase: true From 59491ac506829aebee5327213887e019119387cd Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Sep 2023 14:53:12 +0900 Subject: [PATCH 035/128] Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml Co-authored-by: Fumiya Watanabe --- .../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 b57ae2af65..804268af3d 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 @@ -64,7 +64,7 @@ # lane change regulations regulation: - crosswalk: false + crosswalk: true intersection: false # lane change cancel From 051d3794ec1c2910cbc9534ce59a850697e3a3d6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Sep 2023 18:32:46 +0900 Subject: [PATCH 036/128] Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml --- .../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 46f12a2d43..20e8c0fcf2 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 @@ -55,6 +55,6 @@ intersection_to_occlusion: true merge_from_private: - stop_line_margin: 1.0 + stop_line_margin: 1.2 stop_duration_sec: 1.0 stop_distance_threshold: 1.0 From 4e6193835933dc9a914684e66bd2e76a190f3c69 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 27 Sep 2023 10:22:38 +0900 Subject: [PATCH 037/128] fix: remove additional ground segmentation (#447) Signed-off-by: badai-nguyen --- .../ground_segmentation/ground_segmentation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index c0cad93c6a..d80c7e449c 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - additional_lidars: ["front_upper", "front_lower"] + additional_lidars: [] ransac_input_topics: [] use_single_frame_filter: False use_time_series_filter: True From f5939985e9fa4e1c2bdba7563fcbbf52cd21cb3c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 28 Sep 2023 13:24:05 +0900 Subject: [PATCH 038/128] 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 20e8c0fcf2..5132e53b6d 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 @@ -32,6 +32,8 @@ collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 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 e960b15f604acf074976c34fe2bae6aef75a1ac4 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Sun, 1 Oct 2023 11:12:34 +0900 Subject: [PATCH 039/128] feat(lane_change): enable lane change in crosswalk/intersection if ego vehicle gets stuck (#451) 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 804268af3d..f9b300a564 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: true 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 f1e56875a040cb0a736a6ac0fca6d837491d0b16 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 2 Oct 2023 11:48:53 +0900 Subject: [PATCH 040/128] fix(motion_velocity_smoother): change curvature calculation distance parameter (#556) (#463) Signed-off-by: Takamasa Horibe Co-authored-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 2fd2ee8542..f6ce4db3a8 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: 0.6 # 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 4d2c87c163354632928d4c7f7b83a9d0c5092d6e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 3 Oct 2023 00:16:02 +0900 Subject: [PATCH 041/128] feat(autoware_launch): tune params in surround_obstacle_checker (#469) Signed-off-by: Takayuki Murooka --- .../surround_obstacle_checker.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 e82ca62052..4ef3a456b7 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 @@ -49,9 +49,9 @@ surround_check_side_distance: 0.5 surround_check_back_distance: 0.5 - surround_check_hysteresis_distance: 0.3 + surround_check_hysteresis_distance: 0.1 - state_clear_time: 2.0 + state_clear_time: 0.2 # ego stop state stop_state_ego_speed: 0.1 #[m/s] From 58fd5eed886ace6e36ad2001465e9956a305d5aa Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 3 Oct 2023 00:17:59 +0900 Subject: [PATCH 042/128] feat(autoware_launch): tune merge_from_private stop distance (#466) Signed-off-by: Takayuki Murooka --- .../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 5132e53b6d..d446f12ea8 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 +57,6 @@ intersection_to_occlusion: true merge_from_private: - stop_line_margin: 1.2 + stop_line_margin: 1.7 stop_duration_sec: 1.0 stop_distance_threshold: 1.0 From 440c9f58cecd94d24e96ef21863cfcfb57eacb16 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 3 Oct 2023 00:22:33 +0900 Subject: [PATCH 043/128] fix(avoidance): do not check distance between object and goal (#468) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 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 7bf3ea1884..9c74062618 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 @@ -120,7 +120,7 @@ # detection range object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 10.0 # [m] - object_check_goal_distance: 20.0 # [m] + object_check_goal_distance: 0.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] object_check_shiftable_ratio: 0.6 # [-] @@ -168,7 +168,7 @@ # avoidance distance parameters longitudinal: prepare_time: 2.0 # [s] - remain_buffer_distance: 30.0 # [m] + remain_buffer_distance: 0.0 # [m] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] From 25786e9995150b4d4aa92d586e92cec49c539c27 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 4 Oct 2023 15:17:14 +0900 Subject: [PATCH 044/128] fix(mpc_lateral_controller): enable path smoothing (#472) hotfix(mpc_lateral_controller): enable path smoothing Signed-off-by: kminoda --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 8e28e37780..8a21f158bf 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -7,7 +7,7 @@ admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value # -- path smoothing -- - enable_path_smoothing: false # flag for path smoothing + enable_path_smoothing: true # flag for path smoothing path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num) curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) From f64ff1e640abbcb8b6de5f73d34497a95fbf1782 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 4 Oct 2023 15:20:03 +0900 Subject: [PATCH 045/128] feat(localization_error_monitor): update parameter (#614) (#470) 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 026daf0532..b4f66e7e46 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: 0.2 From ce3c90d9acd828358d982591754e59200f6b57fb Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 4 Oct 2023 15:23:56 +0900 Subject: [PATCH 046/128] fix(control_launch): fix steer rate limit at low velocity (#467) * fix(control_launch): fix steer rate limit at low velocity Signed-off-by: Fumiya Watanabe * Update autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml --------- Signed-off-by: Fumiya Watanabe Co-authored-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 8a21f158bf..80c1987e59 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -49,7 +49,7 @@ vehicle_model_steer_tau: 0.15 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] - steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] + steer_rate_lim_dps_list_by_velocity: [10.0, 10.0, 10.0] # steering angle rate limit list depending on velocity [deg/s] velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0] # velocity list for steering angle rate limit interpolation in ascending order [m/s] acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s] From 991d4e9cf8c2d97a127a5afe098573c2513e1e28 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 4 Oct 2023 15:30:05 +0900 Subject: [PATCH 047/128] feat(system error monitor): tune warn rate for perception mrm (#453) feat(system_error_monitor): tune warn rate for perception mrm Signed-off-by: kminoda --- .../config/system/component_state_monitor/topics.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index c00203dbb6..17de7f3114 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -59,7 +59,7 @@ topic_type: sensor_msgs/msg/PointCloud2 best_effort: true transient_local: false - warn_rate: 5.0 + warn_rate: 6.5 error_rate: 1.0 timeout: 1.0 From 5d9357a27202753c8afb77c00cac3783345017b5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 4 Oct 2023 16:26:17 +0900 Subject: [PATCH 048/128] feat(autoware_launch): longer time horizon in map_based_prediction (#462) Signed-off-by: Takayuki Murooka --- .../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 31fae9c811..b2e036a366 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: 10.0 #[s] + prediction_time_horizon: 15.0 #[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 8967b7355f23a3f02494eb72cddd42032edc1855 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 4 Oct 2023 16:27:28 +0900 Subject: [PATCH 049/128] feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk (#610) (#471) * feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk * update config * revert a parg of config --------- 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 948e512be2..e7accc1409 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: true # for the crosswalk where there is a traffic signal disable_yield_for_new_stopped_object: true # for the crosswalk where there is a traffic signal - timeout_no_intention_to_walk: 1.0 # [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 7d13270db15ced3e82aa898e87d205b0be9d36e5 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 050/128] 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 f9b300a564..3708fa10f4 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 f3cecf3c97c90352f4470cba14fc884e1dc2649c Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Wed, 4 Oct 2023 18:03:14 +0900 Subject: [PATCH 051/128] include expansion Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 3708fa10f4..eaae1ec777 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 @@ -40,8 +40,8 @@ # lane expansion for object filtering lane_expansion: - left_offset: 0.0 # [m] - right_offset: 0.0 # [m] + left_offset: 1.0 # [m] + right_offset: 1.0 # [m] # lateral acceleration map lateral_acceleration: From b9a5f8f83079457f08e2e47d5327eea3ee9df48c 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 052/128] 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 eaae1ec777..8908c54aa5 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: 1.5 - 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 e65846b8cc4b6049018b54ac06fd2c8cb0b81a04 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Tue, 19 Sep 2023 12:11:33 +0900 Subject: [PATCH 053/128] fix conflict 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 1dbc02d7d5..55e6f1872a 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -69,6 +69,10 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> + Date: Mon, 2 Oct 2023 16:44:20 +0900 Subject: [PATCH 054/128] change perception mode Signed-off-by: scepter914 --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d4ece803de..66d632f5d6 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,7 +38,7 @@ - + From 51fa64ef1d222c38c4ae00e6edbe99d83715fa1f Mon Sep 17 00:00:00 2001 From: scepter914 Date: Thu, 5 Oct 2023 16:23:17 +0900 Subject: [PATCH 055/128] change default perception mode into camera_lidar_fusion Signed-off-by: scepter914 --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 66d632f5d6..d4ece803de 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,7 +38,7 @@ - + From 5e8a39e553b6b3f9cf855474165d4418ddd16db9 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Sat, 7 Oct 2023 11:15:09 +0900 Subject: [PATCH 056/128] feat(out_of_lane): more stable stop decisions (#464) * Add param for distance buffer with dynamic objects Signed-off-by: Maxime CLEMENT * Add action.min_duration parameter Signed-off-by: Maxime CLEMENT * deactivate other behavior velocity module Signed-off-by: Maxime CLEMENT * Revert "deactivate other behavior velocity module" This reverts commit 0085075ec24abd914864a7bff0e79ba0731d4895. * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml --------- Signed-off-by: Maxime CLEMENT Co-authored-by: Takayuki Murooka --- .../behavior_velocity_planner/out_of_lane.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 c74c5b3d87..092f1d32b2 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 @@ -17,6 +17,7 @@ use_predicted_paths: true # if true, use the predicted paths to estimate future positions. # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered @@ -26,6 +27,7 @@ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed 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 + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap velocity: 2.0 # [m/s] slowdown velocity From 4f2eb9c6618af5d011905477a41ab17b54cd62c4 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Sat, 7 Oct 2023 11:38:56 +0900 Subject: [PATCH 057/128] fix(autoware_launch): tune avoidance clearance pedestrian v2.3.0 (#478) tune avoidance clearance for pedestrian --- .../behavior_path_planner/avoidance/avoidance.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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 9c74062618..956a786da7 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 @@ -84,7 +84,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 + avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 motorcycle: @@ -94,7 +94,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 + avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: @@ -104,7 +104,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 1.0 + avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 lower_distance_for_polygon_expansion: 30.0 # [m] From c468743a09471bcf97492054c783740956315a9d Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Tue, 10 Oct 2023 08:25:33 +0900 Subject: [PATCH 058/128] ci: add pr comment workflow (#480) * ci: add workflow to comment on PR Signed-off-by: Tomohito Ando * style(pre-commit): autofix * update comment Signed-off-by: Tomohito Ando * trigger only when opened Signed-off-by: Tomohito Ando * update comment Signed-off-by: Tomohito Ando * update comment Signed-off-by: Tomohito Ando * chore: remove redundant double quotation Signed-off-by: TomohitoAndo --------- Signed-off-by: Tomohito Ando Signed-off-by: TomohitoAndo Co-authored-by: TomohitoAndo --- .github/workflows/comment-on-pr.yaml | 30 ++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 .github/workflows/comment-on-pr.yaml diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml new file mode 100644 index 0000000000..b52cf73fbd --- /dev/null +++ b/.github/workflows/comment-on-pr.yaml @@ -0,0 +1,30 @@ +name: comment-on-pr + +on: + pull_request: + types: + - opened + branches: + - beta/v[0-9]+.[0-9]+.[0-9]+ + +jobs: + comment: + runs-on: ubuntu-latest + steps: + - name: Create comments + run: | + cat << EOF > comments + ### betaブランチへマージする際のガイドライン + 通常は`Squash and merge`を使用してください。 + ただし、cherry-pickで複数の変更を取り込むときには、変更履歴を残すために`Create a merge commit`を使用してください。 + + ### Merging guidelines for the beta branch + Please use `Squash and merge` as the default. + However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history. + EOF + + - name: Post comments + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + URL: ${{ github.event.pull_request.html_url }} + run: gh pr comment -F ./comments "${URL}" From b9e2b0376e14b4b9da52da7b15f09c7c0a6b2ba5 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 12 Oct 2023 09:22:01 +0900 Subject: [PATCH 059/128] ci: add single quotation to EOF (#488) Signed-off-by: Tomohito Ando --- .github/workflows/comment-on-pr.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml index b52cf73fbd..471f8bf5a5 100644 --- a/.github/workflows/comment-on-pr.yaml +++ b/.github/workflows/comment-on-pr.yaml @@ -13,7 +13,7 @@ jobs: steps: - name: Create comments run: | - cat << EOF > comments + cat << 'EOF' > comments ### betaブランチへマージする際のガイドライン 通常は`Squash and merge`を使用してください。 ただし、cherry-pickで複数の変更を取り込むときには、変更履歴を残すために`Create a merge commit`を使用してください。 From 2a30e02d33d08ca07c36ea0acd1a3476db32c13f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Aug 2023 17:43:48 +0900 Subject: [PATCH 060/128] 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 d446f12ea8..388495f508 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 b63c3ebe8d3e6ecd056c8c293d4aebb17c90476e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 14:04:52 +0900 Subject: [PATCH 061/128] 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 388495f508..030e524a20 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 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 From bb64888d7af3c0237ee8662b5fa1081257456c74 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 25 Sep 2023 23:31:33 +0900 Subject: [PATCH 062/128] 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 030e524a20..a15be2817b 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 @@ -53,6 +53,7 @@ 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 d45338b0d7bacd51b9476433b7d0a9502462e747 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 09:49:55 +0900 Subject: [PATCH 063/128] 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 a15be2817b..021f311df0 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 63c796e495fa83f4744bb15dcd5ea33bdd10cd8e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 21:17:04 +0900 Subject: [PATCH 064/128] 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 021f311df0..4d8911dc65 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 c9e65db0c4a23e9ef0a8a264e0a422b611070815 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 065/128] 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 4d8911dc65..df1a01f86e 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 7467ae3a5d0b237a1b0bef4c07dab4e8b00f84d8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 6 Oct 2023 22:14:40 +0900 Subject: [PATCH 066/128] 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 df1a01f86e..48854dd879 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 674151b009c5a4e24bfa82d63c3914b971fe36eb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 9 Oct 2023 22:54:45 +0900 Subject: [PATCH 067/128] feat: set enable_private_area_stuck_disregard to true Signed-off-by: Takayuki Murooka --- .../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 48854dd879..56a0efc0d1 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 @@ -19,7 +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. + enable_private_area_stuck_disregard: true #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 e54607424c82c67ed3365af41d4f62cfbb585ef9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 12 Oct 2023 12:17:34 +0900 Subject: [PATCH 068/128] feat: change maximum_peeking_distance from 6.0 to -0.5 in order to revert the behavior Signed-off-by: Takayuki Murooka --- .../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 56a0efc0d1..3b298c9345 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 @@ -61,7 +61,7 @@ temporal_stop_before_attention_area: false absence_traffic_light: creep_velocity: 1.388 # [m/s] - maximum_peeking_distance: 6.0 # [m] + maximum_peeking_distance: -0.5 # [m] attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.5 From db6b55da7a68ced446abfe7428a6cae6055c30a0 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 6 Oct 2023 13:54:04 +0900 Subject: [PATCH 069/128] change params to comply with obstacle-type based slow down 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 a38c297943..ecc88a0af9 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 @@ -172,10 +172,13 @@ slow_down: # parameters to calculate slow down velocity by linear interpolation - min_lat_margin: 0.2 - max_lat_margin: 0.7 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + labels: + - "default" + default: + min_lat_margin: 0.2 + max_lat_margin: 0.7 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s] From 56b30d6d28c83a14abfeae9cbbab1bf6e84c0a1f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 10 Oct 2023 14:27:56 +0900 Subject: [PATCH 070/128] update parameter Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 6 ++++++ 1 file changed, 6 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 ecc88a0af9..ac87c49b3e 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 @@ -174,11 +174,17 @@ # parameters to calculate slow down velocity by linear interpolation labels: - "default" + - "pedestrian" default: min_lat_margin: 0.2 max_lat_margin: 0.7 min_ego_velocity: 2.0 max_ego_velocity: 8.0 + pedestrian: + min_lat_margin: 0.5 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 4.0 time_margin_on_target_velocity: 1.5 # [s] From f18ef3ae061c7ac1cc45244416a6960ed8015c37 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 12 Oct 2023 12:46:28 +0900 Subject: [PATCH 071/128] feat(autoware_launch): disable smooth_stop in pid_longitudinal_controller (#446) Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 5aec1c7ef2..f6386d61a2 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -2,7 +2,7 @@ ros__parameters: delay_compensation_time: 0.15 - enable_smooth_stop: true + enable_smooth_stop: false enable_overshoot_emergency: true enable_large_tracking_error_emergency: true enable_slope_compensation: true From d89e1e629d0ebe802792ccdb66a2f24ecae5dea7 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 072/128] 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 956a786da7..6944c13401 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 @@ -165,6 +165,7 @@ hard_road_shoulder_margin: 0.8 # [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] @@ -215,12 +216,6 @@ 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 c33d513edfe81987104d568c0dec1b94eb7f03c9 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 13 Oct 2023 20:56:17 +0900 Subject: [PATCH 073/128] feat(avoidance): tune avoidance margin (#487) Signed-off-by: kminoda --- .../behavior_path_planner/avoidance/avoidance.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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 6944c13401..9c8c599e0e 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 @@ -33,9 +33,9 @@ moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.7 # [m] + envelope_buffer_margin: 0.5 # [m] + avoid_margin_lateral: 0.7 # [m] + safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: is_target: true From b2e178eb5465ac2eae3ddc6f7a0f02394576d9ee Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 12 Oct 2023 14:31:17 +0900 Subject: [PATCH 074/128] 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 3b298c9345..6034e9277c 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 3f728772842e1c63c074f73da4963933a4c65dcc Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 12 Oct 2023 16:39:23 +0900 Subject: [PATCH 075/128] no stuck detection when turning left Signed-off-by: Takayuki Murooka --- .../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 6034e9277c..e87dc7897d 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 @@ -14,7 +14,7 @@ consider_wrong_direction_vehicle: false stuck_vehicle: turn_direction: - left: true + left: false right: true straight: true use_stuck_stopline: true # stopline generated before the first conflicting area From 183725e5f1aa4216fc0965e3129244bd10b9c372 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 15 Oct 2023 14:36:08 +0900 Subject: [PATCH 076/128] feat(autoware_launch): disable intersection area to expand drivable area (#497) Signed-off-by: Takayuki Murooka --- .../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 9c8c599e0e..abae3b86f1 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 @@ -18,7 +18,7 @@ # drivable area setting use_adjacent_lane: true use_opposite_lane: true - use_intersection_areas: true + use_intersection_areas: false use_hatched_road_markings: true # for debug From 6284ddd005914cc65f028a4fa6987b62d3816487 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 13 Oct 2023 21:31:48 +0900 Subject: [PATCH 077/128] 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 e87dc7897d..cb62ac44b9 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: true #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 2dff0d76a3cc482d79e07a07e669e844a63c1ef7 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Sun, 15 Oct 2023 13:50:13 +0900 Subject: [PATCH 078/128] 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 cb62ac44b9..17c6682ea1 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 e5d5668a61eee96c45ebdbdd677872b6f727c004 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 16 Oct 2023 16:23:49 +0900 Subject: [PATCH 079/128] feat(autoware_launch): quick start when no collision (#502) Signed-off-by: Takayuki Murooka --- .../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 17c6682ea1..e054f4cb8f 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 24a7ac9924d07dd21e0d17853062dfe59b2e5ce3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 16 Oct 2023 16:41:08 +0900 Subject: [PATCH 080/128] =?UTF-8?q?feat(autoware=5Flaunch):=20longer=20yie?= =?UTF-8?q?ld=20time=20of=20green=20traffic=20light=20in=20in=E2=80=A6=20(?= =?UTF-8?q?#498)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit feat(autoware_launch): longer yield time of green traffic light in intersection Signed-off-by: Takayuki Murooka --- .../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 e054f4cb8f..699e453eaf 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 @@ -49,7 +49,7 @@ 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 + duration: 5.0 object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] From 328c5f44f19ca8499d10b1b9af2539cfc1b6651e Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 16 Oct 2023 17:26:23 +0900 Subject: [PATCH 081/128] feat(behavior_path_planner): curvature based drivable area expansion (#491) * 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 | 33 +++++++------------ 1 file changed, 12 insertions(+), 21 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 3ade2bcd2a..5942477bd3 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 @@ -5,16 +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: true - debug_print: false # if true, print some debug runtime measurements + 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: 1.5 # [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: false # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: @@ -25,21 +28,9 @@ path_preprocessing: max_arc_length: 80.0 # [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: 0.3 # [m] distance to keep between the drivable area and the linestrings to avoid - compensate: - enable: false # 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 - replan_checker: - enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly - # not compatible with dynamic_objects.avoid - max_deviation: 1.0 # [m] full replan is only done if the path changes by more than this distance + distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid From fbdcefae0839165f092a5e6f22c05d2774a0e473 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 16 Oct 2023 19:16:44 +0900 Subject: [PATCH 082/128] feat(autoware_launch): make behavior path modules not exclusive (#500) * feat(autoware_launch): make behavior path modules not exclusive Signed-off-by: Takayuki Murooka * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Takayuki Murooka Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../behavior_path_planner/scene_module_manager.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 2fd1229aa2..7c2b2093bf 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 @@ -42,7 +42,7 @@ start_planner: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 0 @@ -69,7 +69,7 @@ avoidance: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 5 From cb2a4706303270bb012fc43d5b17aa8688be04f9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 17 Oct 2023 15:46:30 +0900 Subject: [PATCH 083/128] feat(lane_change): add rss paramas for stuck (#493) 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 8908c54aa5..eb405f2d97 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 +38,14 @@ longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 cancel: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -2.5 + rear_vehicle_reaction_time: 1.0 + rear_vehicle_safety_time_margin: 0.5 + lateral_distance_max_threshold: 0.75 + longitudinal_distance_min_threshold: 2.0 + longitudinal_velocity_delta_time: 0.3 + stuck: expected_front_deceleration: -1.0 expected_rear_deceleration: -2.0 rear_vehicle_reaction_time: 1.5 From 4675f74a2f7ad2da4c76777eadf2c3c67342a245 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 17 Oct 2023 15:47:28 +0900 Subject: [PATCH 084/128] fix(lane_change): use low acceleration, check ego lane objects (#495) Signed-off-by: Takamasa Horibe --- .../lane_change/lane_change.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/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 eb405f2d97..166d9a4c6f 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 @@ -23,8 +23,8 @@ length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) # longitudinal acceleration - min_longitudinal_acc: -1.0 - max_longitudinal_acc: 1.0 + min_longitudinal_acc: -0.5 + max_longitudinal_acc: 0.2 # safety check safety_check: @@ -79,7 +79,7 @@ # collision check enable_prepare_segment_collision_check: false prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] - check_objects_on_current_lanes: false + check_objects_on_current_lanes: true check_objects_on_other_lanes: false use_all_predicted_path: false From 69cc604b60fb2635ce74ee3230d99bcd8d8ff122 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 17 Oct 2023 15:48:33 +0900 Subject: [PATCH 085/128] feat(lane_change): ignore pedestrian (#503) 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 166d9a4c6f..c1f215a3b9 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 @@ -74,7 +74,7 @@ unknown: false bicycle: true motorcycle: true - pedestrian: true + pedestrian: false # collision check enable_prepare_segment_collision_check: false From 901a5f6c270e7c6d89488e01ef5c193902a550bd Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 17 Oct 2023 15:49:57 +0900 Subject: [PATCH 086/128] feat(lane_change): change stuck velocity to 0.5 (#504) 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 c1f215a3b9..71862a292a 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 e9e44bdd6d86dfffd0c31df1768857c497650667 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 17 Oct 2023 16:13:39 +0900 Subject: [PATCH 087/128] feat: enable smooth stop in pid_longitudinal_controller (#505) Revert "feat(autoware_launch): disable smooth_stop in pid_longitudinal_controller (#446)" This reverts commit f18ef3ae061c7ac1cc45244416a6960ed8015c37. --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index f6386d61a2..5aec1c7ef2 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -2,7 +2,7 @@ ros__parameters: delay_compensation_time: 0.15 - enable_smooth_stop: false + enable_smooth_stop: true enable_overshoot_emergency: true enable_large_tracking_error_emergency: true enable_slope_compensation: true From 494b9cab05da9208a41319668d392604d4d1dc2f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 18 Oct 2023 09:44:27 +0900 Subject: [PATCH 088/128] feat(autoware_launch): longer yield time when green in intersection (#508) Signed-off-by: Takayuki Murooka --- .../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 699e453eaf..e845cf72d5 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 @@ -49,7 +49,7 @@ 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: 5.0 + duration: 8.0 object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] From 0cb041d15cc4fefda0c986b74c76f96e2f75c17f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 18 Oct 2023 21:03:59 +0900 Subject: [PATCH 089/128] feat(autoware_launch): tune engage_acceleration: 0.1 -> 0.6 (#510) Signed-off-by: Takayuki Murooka --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 f6ce4db3a8..5b9f8526c7 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 @@ -24,7 +24,7 @@ # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_acceleration: 0.6 # engage acceleration [m/ss] (use this acceleration when engagement) engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] From 9a7dec7be035f7d375084a169d29672d7610a051 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 18 Oct 2023 21:07:36 +0900 Subject: [PATCH 090/128] feat: revert "feat(autoware_launch): quick start when no collision (#502)" (#511) Revert "feat(autoware_launch): quick start when no collision (#502)" This reverts commit e5d5668a61eee96c45ebdbdd677872b6f727c004. --- .../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 e845cf72d5..ba079c599a 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: 0.0 + state_transit_margin_time: 1.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] fully_prioritized: From e6ebc0a9f77d4963d3139b3476cb14a102e436ef Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Oct 2023 08:49:16 +0900 Subject: [PATCH 091/128] feat(autoware_launch): suppress sudden pass judge stop in intersection (#513) * feat(autoware_launch): add disable_pass_judge_sudden_stop in intersection Signed-off-by: Takayuki Murooka * add enable_peeking_pass_judge Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * modify parameter Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../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 ba079c599a..c9048d09e5 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 @@ -12,6 +12,8 @@ use_intersection_area: false path_interpolation_ds: 0.1 # [m] consider_wrong_direction_vehicle: false + disable_pass_judge_sudden_stop: true + enable_peeking_pass_judge: false stuck_vehicle: turn_direction: left: false From f5a1dfade6c92e949c675df5b564c76af387e0c5 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Sun, 22 Oct 2023 22:28:42 +0900 Subject: [PATCH 092/128] fix(autoware_launch): fix parameter for light weight grand segmentation (#506) * fix:(autoware_launch) fix parameter for light weight grand segmentation Signed-off-by: scepter914 * update ground segmentation param Signed-off-by: scepter914 --------- Signed-off-by: scepter914 --- .../ground_segmentation/ground_segmentation.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index d80c7e449c..53c20b5813 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -7,10 +7,10 @@ common_crop_box_filter: parameters: - min_x: -100.0 - max_x: 150.0 - min_y: -70.0 - max_y: 70.0 + min_x: -70.0 + max_x: 120.0 + min_y: -75.0 + max_y: 75.0 max_z: 3.2 min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False From 87974c0f9fbf75639058b18f4918275db7a9ce1d Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Sun, 22 Oct 2023 22:30:04 +0900 Subject: [PATCH 093/128] fix: fix stop_duration_sec param for merge_from_private (#516) fix stop_duration_sec param Signed-off-by: scepter914 --- .../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 c9048d09e5..f2e6bffcc1 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 @@ -85,5 +85,5 @@ merge_from_private: stop_line_margin: 1.7 - stop_duration_sec: 1.0 + stop_duration_sec: 1.5 stop_distance_threshold: 1.0 From a2f88f007dda5a598d0014ab46b835c65791ed7f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 23 Oct 2023 01:21:07 +0900 Subject: [PATCH 094/128] feat(autoware_launch): longer prediction 15.0 -> 20.0 (#482) * feat(autoware_launch): longer prediction 15.0 -> 20.0 Signed-off-by: Takayuki Murooka * Update map_based_prediction.param.yaml --------- Signed-off-by: Takayuki Murooka --- .../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 b2e036a366..d11094500b 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: 15.0 #[s] + prediction_time_horizon: 18.0 #[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 b0818b51914c45443a0cb41661a9850233f0a6c2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 23 Oct 2023 09:58:12 +0900 Subject: [PATCH 095/128] fix(avoidance): tuning avoidance parameter for objects on narrow lane (#514) 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 abae3b86f1..3f51f4c5a7 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 @@ -122,7 +122,7 @@ object_check_backward_distance: 10.0 # [m] object_check_goal_distance: 0.0 # [m] # filtering parking objects - threshold_distance_object_is_on_center: 1.0 # [m] + threshold_distance_object_is_on_center: 0.5 # [m] object_check_shiftable_ratio: 0.6 # [-] object_check_min_road_shoulder_width: 0.5 # [m] # lost object compensation From ef6741369a2c2b8acb9fde9e3b0686024ea8961c Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 23 Oct 2023 10:27:32 +0900 Subject: [PATCH 096/128] feat(avoidance): update road shoulder margin (#509) feat(avoidance): tune avoidance margin Signed-off-by: kminoda --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 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 3f51f4c5a7..1f56e5b67c 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 @@ -161,8 +161,8 @@ lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.8 # [m] - hard_road_shoulder_margin: 0.8 # [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 max_deviation_from_lane: 0.5 # [m] From 9ef8126de689ed142672668a23b44becca20cd78 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Mon, 23 Oct 2023 13:44:21 +0900 Subject: [PATCH 097/128] =?UTF-8?q?Revert=20"feat(autoware=5Flaunch):=20ma?= =?UTF-8?q?ke=20behavior=20path=20modules=20not=20exclusi=E2=80=A6=20(#521?= =?UTF-8?q?)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "feat(autoware_launch): make behavior path modules not exclusive (#500)" This reverts commit fbdcefae0839165f092a5e6f22c05d2774a0e473. --- .../behavior_path_planner/scene_module_manager.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 7c2b2093bf..2fd1229aa2 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 @@ -42,7 +42,7 @@ start_planner: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 0 @@ -69,7 +69,7 @@ avoidance: enable_module: true enable_rtc: true - enable_simultaneous_execution_as_approved_module: true + enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false priority: 5 From 373fd6e1da7a9445979d9188bb6097394f8affef Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 20:54:05 +0900 Subject: [PATCH 098/128] feat(autoware_launch): make a margin to stop line in traffic light/stopline (#520) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/stop_line.param.yaml | 2 +- .../behavior_velocity_planner/traffic_light.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index 5fa183d73a..0d4e806c2f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: stop_line: - stop_margin: 0.0 + stop_margin: 0.5 stop_duration_sec: 1.0 use_initialization_stop_line_state: true hold_stop_margin_distance: 2.0 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..0491db72b3 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 @@ -1,7 +1,7 @@ /**: ros__parameters: traffic_light: - stop_margin: 0.0 + stop_margin: 0.5 tl_state_timeout: 1.0 yellow_lamp_period: 2.75 enable_pass_judge: true From adb869c29c3b925753ac04320c9dd83fbfd08144 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Wed, 25 Oct 2023 21:55:18 +0900 Subject: [PATCH 099/128] feat(avoidance): reduce envelope of pedestrian object for avoidance (#489) reduce envelope of pedestrian object for avoidance --- .../behavior_path_planner/avoidance/avoidance.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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 1f56e5b67c..8e7964165e 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 @@ -83,7 +83,7 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 + envelope_buffer_margin: 0.3 avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 @@ -93,7 +93,7 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 + envelope_buffer_margin: 0.3 avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 @@ -103,7 +103,7 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.8 + envelope_buffer_margin: 0.3 avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 From 9d7453045bba2875a6f136971e79c27528c0691c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 31 Oct 2023 10:39:32 +0900 Subject: [PATCH 100/128] feat(lane_change): tuning params for terminal stop distance (#525) Signed-off-by: kosuke55 --- .../lane_change/lane_change.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/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 71862a292a..0346b0ad4b 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 @@ -4,10 +4,10 @@ backward_lane_length: 200.0 #[m] prepare_duration: 3.0 # [s] - backward_length_buffer_for_end_of_lane: 0.5 # [m] + backward_length_buffer_for_end_of_lane: 1.5 # [m] lane_change_finish_judge_buffer: 0.0 # [m] - lane_changing_lateral_jerk: 0.5 # [m/s3] + lane_changing_lateral_jerk: 0.3 # [m/s3] minimum_lane_changing_velocity: 1.5 # [m/s] prediction_time_resolution: 0.5 # [s] @@ -63,7 +63,7 @@ lateral_acceleration: velocity: [0.0, 4.0, 10.0] min_values: [0.15, 0.15, 0.15] - max_values: [1.0, 0.75, 0.5] + max_values: [0.5, 0.5, 0.5] # target object target_object: From 15ae2d1de661a1e6f7e7e988bc3a43618b08a10b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 31 Oct 2023 10:40:46 +0900 Subject: [PATCH 101/128] feat(lane_change): increat cancel delta_time to suppress chattering (#529) 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 0346b0ad4b..f49edce5e6 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 @@ -97,7 +97,7 @@ cancel: enable_on_prepare_phase: true enable_on_lane_changing_phase: false - delta_time: 1.0 # [s] + delta_time: 2.0 # [s] duration: 5.0 # [s] max_lateral_jerk: 100.0 # [m/s3] overhang_tolerance: 0.0 # [m] From 469128ac508bb189452ff088dc9cd840d003f478 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 10:44:46 +0900 Subject: [PATCH 102/128] feat: enable use_intersection_area in avoidance (#524) Signed-off-by: Takayuki Murooka --- .../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 8e7964165e..0935eae808 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 @@ -18,7 +18,7 @@ # drivable area setting use_adjacent_lane: true use_opposite_lane: true - use_intersection_areas: false + use_intersection_areas: true use_hatched_road_markings: true # for debug From e04b1f58f2db2992b57c478ad18b83a0c82ce261 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 10:45:37 +0900 Subject: [PATCH 103/128] =?UTF-8?q?feat(behavior=5Fvelocity=5Frun=5Fout):?= =?UTF-8?q?=20ignore=20momentary=20detection=20caused=20by=E2=80=A6=20(#53?= =?UTF-8?q?1)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit feat(behavior_velocity_run_out): ignore momentary detection caused by false positive (#647) * feat(behavior_velocity_run_out): ignore momentary detection caused by false positive * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando Co-authored-by: Tomohito ANDO Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_velocity_planner/run_out.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index ff67360785..ca24c59598 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -48,3 +48,8 @@ enable: false max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. + + # prevent abrupt stops caused by false positives in perception + ignore_momentary_detection: + enable: true + time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration From 72527eae5a9880104694f8d668c9ab84e45af7f2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 10:51:49 +0900 Subject: [PATCH 104/128] feat: higher priority of lane change than avoidance (#533) feat: LC higher priority than avoidance Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/scene_module_manager.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/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 2fd1229aa2..1e11675aa4 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 @@ -27,7 +27,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false 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: false keep_last: false - priority: 6 + priority: 5 max_module_size: 1 start_planner: @@ -72,7 +72,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 5 + priority: 6 max_module_size: 1 avoidance_by_lc: From 50602aee101009d022037c6638a4d1e2a3487a34 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 31 Oct 2023 10:53:57 +0900 Subject: [PATCH 105/128] fix(lane_change): separate backward buffer for blocking object (#535) Signed-off-by: Fumiya Watanabe Co-authored-by: Takayuki Murooka --- .../behavior_path_planner/lane_change/lane_change.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/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 f49edce5e6..ad6265b7ce 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 @@ -4,7 +4,8 @@ backward_lane_length: 200.0 #[m] prepare_duration: 3.0 # [s] - backward_length_buffer_for_end_of_lane: 1.5 # [m] + backward_length_buffer_for_end_of_lane: 7.0 # [m] + backward_length_buffer_for_blocking_object: 0.5 # [m] lane_change_finish_judge_buffer: 0.0 # [m] lane_changing_lateral_jerk: 0.3 # [m/s3] From 5e50e7c3baa9f8b357e4d21ace41d2e717e0b813 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 13:27:07 +0900 Subject: [PATCH 106/128] feat: tune walkway stop position Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/walkway.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/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml index 2bdfacd868..778d685141 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml @@ -2,4 +2,4 @@ ros__parameters: walkway: stop_duration: 0.1 # [s] stop time at stop position - stop_distance_from_crosswalk: 0.0 # [m] make stop line away from crosswalk when no explicit stop line exists + stop_distance_from_crosswalk: 1.5 # [m] make stop line away from crosswalk when no explicit stop line exists From d51093a453d6641e10a87b928ec6c1846c312932 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 16:07:35 +0900 Subject: [PATCH 107/128] feat: add use_conservative_buffer_longitudinal in avoidance Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 0935eae808..45349a2713 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 @@ -37,6 +37,7 @@ avoid_margin_lateral: 0.7 # [m] safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] + use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: is_target: true execute_num: 1 @@ -47,6 +48,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true bus: is_target: true execute_num: 1 @@ -57,6 +59,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true trailer: is_target: true execute_num: 1 @@ -67,6 +70,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true unknown: is_target: false execute_num: 1 @@ -77,6 +81,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true bicycle: is_target: true execute_num: 1 @@ -87,6 +92,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true motorcycle: is_target: true execute_num: 1 @@ -97,6 +103,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true pedestrian: is_target: true execute_num: 1 @@ -107,6 +114,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m] From 62d91a0e0ba7851c0d14518f2dff9c9bd486d71e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 16:24:59 +0900 Subject: [PATCH 108/128] feat: set use_conservative_buffer_longitudinal to false Signed-off-by: Takayuki Murooka --- .../avoidance/avoidance.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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 45349a2713..0e95557c72 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 @@ -37,7 +37,7 @@ avoid_margin_lateral: 0.7 # [m] safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. + use_conservative_buffer_longitudinal: false # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: is_target: true execute_num: 1 @@ -48,7 +48,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false bus: is_target: true execute_num: 1 @@ -59,7 +59,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false trailer: is_target: true execute_num: 1 @@ -70,7 +70,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false unknown: is_target: false execute_num: 1 @@ -81,7 +81,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false bicycle: is_target: true execute_num: 1 @@ -92,7 +92,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false motorcycle: is_target: true execute_num: 1 @@ -103,7 +103,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false pedestrian: is_target: true execute_num: 1 @@ -114,7 +114,7 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: true + use_conservative_buffer_longitudinal: false lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m] From 864094d1072be8522819fbace60f263d6390c1ea Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 16:25:47 +0900 Subject: [PATCH 109/128] feat: tune lateral jerk of avoidance Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 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 0e95557c72..37610ec69c 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 @@ -213,8 +213,8 @@ lateral: velocity: [1.0, 1.38, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] - min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] + min_jerk_values: [0.1, 0.1, 0.2] # [m/sss] + max_jerk_values: [0.1, 0.1, 1.0] # [m/sss] # longitudinal constraints longitudinal: From 37c23e130aeb024789b2258ebad944d05ecbf677 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 11:07:26 +0900 Subject: [PATCH 110/128] feat: tune walkway stop position (#526) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/walkway.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/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml index 2bdfacd868..778d685141 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml @@ -2,4 +2,4 @@ ros__parameters: walkway: stop_duration: 0.1 # [s] stop time at stop position - stop_distance_from_crosswalk: 0.0 # [m] make stop line away from crosswalk when no explicit stop line exists + stop_distance_from_crosswalk: 1.5 # [m] make stop line away from crosswalk when no explicit stop line exists From 2b4c6a9742f6385060f02ce2405a08b26c329e3d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 11:22:35 +0900 Subject: [PATCH 111/128] feat: tune pid longitudinal controller (#536) Signed-off-by: Takayuki Murooka --- .../trajectory_follower/longitudinal/pid.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 5aec1c7ef2..863c50c1ea 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -37,9 +37,9 @@ brake_keeping_acc: -0.2 # smooth stop state - smooth_stop_max_strong_acc: -0.5 - smooth_stop_min_strong_acc: -0.8 - smooth_stop_weak_acc: -0.3 + smooth_stop_max_strong_acc: -0.8 + smooth_stop_min_strong_acc: -1.3 + smooth_stop_weak_acc: -0.6 smooth_stop_weak_stop_acc: -0.8 smooth_stop_strong_stop_acc: -3.4 smooth_stop_max_fast_vel: 0.5 @@ -65,7 +65,7 @@ # jerk limit max_jerk: 2.0 - min_jerk: -2.0 + min_jerk: -5.0 # pitch use_trajectory_for_pitch_calculation: true From ac95b43019675f9317b8697d888871307241cdc6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 11:27:58 +0900 Subject: [PATCH 112/128] fix: tune intersection of decision after stopping (#523) fix: tune intersection Signed-off-by: Takayuki Murooka --- .../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 f2e6bffcc1..03d6117157 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 @@ -48,7 +48,7 @@ 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 + minimum_upstream_velocity: 1.38 # [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: 8.0 From bb7f9687e3ea891384cfdd16212dbf053ce5e993 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 15:12:12 +0900 Subject: [PATCH 113/128] feat: change emergency_state_overshoot_stop_dist: 1.5 -> 0.8 (#539) Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 863c50c1ea..8502a60853 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -15,7 +15,7 @@ stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 - emergency_state_overshoot_stop_dist: 1.5 + emergency_state_overshoot_stop_dist: 0.8 emergency_state_traj_trans_dev: 3.0 emergency_state_traj_rot_dev: 0.7854 From 844f4edb1e5705fc95076fbb4f111c025ce122b1 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 31 Oct 2023 17:18:19 +0900 Subject: [PATCH 114/128] feat(behavior velocity planner, traffic light)!: conject with v2i msg (#494) enabling GO/STOP decision by v2i rest time information --------- Signed-off-by: Yuki Takagi Co-authored-by: yuki-takagi-66 Co-authored-by: tier4-autoware-private-bot[bot] --- .../behavior_velocity_planner/traffic_light.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) 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 0491db72b3..5efd519fcb 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 @@ -6,3 +6,9 @@ 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 + + v2i: + use_rest_time: true + last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red + velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not + required_time_to_departure: 3.0 # prevent low speed pass From 7dbe194fa7b2a77a254a2601840139b93dd6de80 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 8 Nov 2023 16:55:16 +0900 Subject: [PATCH 115/128] feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother (#456) * feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother Signed-off-by: Makoto Kurihara * feat(autoware_launch): change to JerkFiltered smoother Signed-off-by: Makoto Kurihara * chore: increase jerk limit for acceleration --------- Signed-off-by: Makoto Kurihara Co-authored-by: Shinnosuke Hirakawa --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- .../launch/components/tier4_planning_component.launch.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 6bb130e805..534a45cd96 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -4,8 +4,8 @@ normal: min_acc: -1.0 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - max_jerk: 1.0 # max jerk [m/sss] + min_jerk: -0.3 # min jerk [m/sss] + max_jerk: 0.6 # max jerk [m/sss] # constraints to be observed limit: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index b7035a5d0b..101afc5c35 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -7,7 +7,7 @@ - + From 827a7083c306bdad638b8c917e6376ed88914afc Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Date: Thu, 9 Nov 2023 17:32:57 +0900 Subject: [PATCH 116/128] revert: feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother (#456) (#542) Revert "feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother (#456)" This reverts commit 7dbe194fa7b2a77a254a2601840139b93dd6de80. --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- .../launch/components/tier4_planning_component.launch.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 534a45cd96..6bb130e805 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -4,8 +4,8 @@ normal: min_acc: -1.0 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -0.3 # min jerk [m/sss] - max_jerk: 0.6 # max jerk [m/sss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] # constraints to be observed limit: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 101afc5c35..b7035a5d0b 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -7,7 +7,7 @@ - + From 802dc2b631d763e34013f16416eacd7b316e45f1 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 17 Nov 2023 13:55:28 +0900 Subject: [PATCH 117/128] fix(avoidance): tuning avoidance max jerk limit (#543) 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 37610ec69c..55edf80c3c 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 @@ -214,7 +214,7 @@ velocity: [1.0, 1.38, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.1, 0.1, 0.2] # [m/sss] - max_jerk_values: [0.1, 0.1, 1.0] # [m/sss] + max_jerk_values: [0.2, 0.2, 1.0] # [m/sss] # longitudinal constraints longitudinal: From e54fbf6b27a2babb3b8653836354aaa19b54bf6f Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 17 Nov 2023 14:15:46 +0900 Subject: [PATCH 118/128] fix(tier4_perception_component): add detection by tracker option param (#540) Signed-off-by: badai-nguyen Co-authored-by: Tomohito ANDO --- .../launch/components/tier4_perception_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 55e6f1872a..ef36b18aa7 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -29,6 +29,7 @@ + Date: Mon, 20 Nov 2023 10:33:37 +0900 Subject: [PATCH 119/128] feat: use radar (#546) use radar Signed-off-by: Takayuki Murooka Co-authored-by: Takayuki Murooka --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d4ece803de..66d632f5d6 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -38,7 +38,7 @@ - + From eb0d3f02ebbc4162d1d0ee31081ee1b0ebf7a0d9 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 22 Nov 2023 10:00:58 +0900 Subject: [PATCH 120/128] feat: add motion_velocity_smoother's virtual wall in rviz (#684) (#547) Signed-off-by: Takayuki Murooka Co-authored-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 5e52592d98..b134c5cd47 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2141,6 +2141,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group From a64e909e00645b80ece660a4f580b971c62bd76f Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 22 Nov 2023 17:25:36 +0900 Subject: [PATCH 121/128] chore: tune avoidance lateral margin (#549) Signed-off-by: Tomohito Ando --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 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 55edf80c3c..41ad4ebe14 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 @@ -33,9 +33,9 @@ moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.5 # [m] - avoid_margin_lateral: 0.7 # [m] - safety_buffer_lateral: 0.3 # [m] + envelope_buffer_margin: 0.3 # [m] + avoid_margin_lateral: 1.0 # [m] + safety_buffer_lateral: 0.1 # [m] safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: false # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: @@ -46,7 +46,7 @@ max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 + safety_buffer_lateral: 0.4 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false bus: From 2cf6761feeb678dfa57c9d19036edc28b7bab9ae Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 22 Nov 2023 17:27:33 +0900 Subject: [PATCH 122/128] fix(perception): add detection by tracker param file (#548) * fix(perception): add detection_by_tracker param file (#676) Signed-off-by: badai-nguyen * fix: disable DBT for car Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen Co-authored-by: Tomohito ANDO --- .../detection_by_tracker.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/detection_by_tracker/detection_by_tracker.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml new file mode 100644 index 0000000000..d78887b29d --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + tracker_ignore_label: + UNKNOWN : true + CAR : true + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index ef36b18aa7..60e76fd131 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -70,6 +70,10 @@ value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> + Date: Thu, 23 Nov 2023 21:36:44 +0900 Subject: [PATCH 123/128] chore(obstacle_cruise_planner): change min_behavior_stop_margin to prevent ego from approaching after stopping (#551) chore(obstacle_cruise_planner): change min_behavior_stop_margin to avoid stop wall to approach Signed-off-by: Tomohito Ando --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 ac87c49b3e..b76f22ef5c 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 @@ -19,7 +19,7 @@ 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] + min_behavior_stop_margin: 6.0 # [m] stop_on_curve: enable_approaching: true additional_safe_distance_margin: 2.0 # [m] From a96e1d9ecd4f5cdefc8674cb6789d8e4e9ec15ff Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 24 Nov 2023 17:12:25 +0900 Subject: [PATCH 124/128] chore(mpc): disable steering offset removal (#550) Signed-off-by: Tomohito Ando --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 80c1987e59..7c68630fe9 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -69,7 +69,7 @@ # steer offset steering_offset: - enable_auto_steering_offset_removal: true + enable_auto_steering_offset_removal: false update_vel_threshold: 5.56 update_steer_threshold: 0.035 average_num: 1000 From 04ce2d056aa41140f116e94799e088732223f531 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 24 Nov 2023 17:14:07 +0900 Subject: [PATCH 125/128] feat: use optimization velocity smoother (#545) * feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother Signed-off-by: Makoto Kurihara * feat(autoware_launch): change to JerkFiltered smoother Signed-off-by: Makoto Kurihara * Increase max_jerk: 0.3 -> 0.6 --------- Signed-off-by: Makoto Kurihara Co-authored-by: Makoto Kurihara Co-authored-by: Takayuki Murooka --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- .../launch/components/tier4_planning_component.launch.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 6bb130e805..534a45cd96 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -4,8 +4,8 @@ normal: min_acc: -1.0 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - max_jerk: 1.0 # max jerk [m/sss] + min_jerk: -0.3 # min jerk [m/sss] + max_jerk: 0.6 # max jerk [m/sss] # constraints to be observed limit: diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index b7035a5d0b..101afc5c35 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -7,7 +7,7 @@ - + From 9f0e043a42b9c0052e539affc396ba9cd6ba6670 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Mon, 4 Dec 2023 20:30:06 +0900 Subject: [PATCH 126/128] feat(component_state_monitor): monitor pose_estimator output (#692) (#554) Signed-off-by: kminoda Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- .../system/component_state_monitor/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 17de7f3114..c6c684e34d 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -50,6 +50,19 @@ error_rate: 1.0 timeout: 1.0 +- module: localization + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: pose_estimator_pose + topic: /localization/pose_estimator/pose_with_covariance + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: perception mode: [online, logging_simulation] type: launch From 1e9c45763af7f4fa609c0c2efe1a550ee009dfe9 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 8 Dec 2023 09:34:59 +0900 Subject: [PATCH 127/128] feat(intersection): check path margin for overshoot vehicles on redight (#654) (#555) feat(intersection): check path margin for overshoot vehicles on red light (#654) Co-authored-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 03d6117157..3699b4a954 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 @@ -55,6 +55,8 @@ object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] + ignore_on_red_traffic_light: + object_margin_to_path: 2.0 occlusion: enable: false From 493bb2cd502e10f93fba56ab1aa07574ea5e0099 Mon Sep 17 00:00:00 2001 From: Shinnosuke Hirakawa Date: Fri, 12 Jan 2024 15:41:07 +0900 Subject: [PATCH 128/128] fix: param name for `merge_from_private` --- .../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 a061c94012..bbdb6de2c4 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 @@ -92,6 +92,6 @@ intersection_to_occlusion: false merge_from_private: - stop_line_margin: 1.7 + stopline_margin: 1.7 stop_duration_sec: 1.5 stop_distance_threshold: 1.0