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 bc3213081d..c39088753f 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -32,7 +32,9 @@ max_d_effort: 0.0 min_d_effort: 0.0 lpf_vel_error_gain: 0.9 + enable_integration_at_low_speed: false current_vel_threshold_pid_integration: 0.5 + time_threshold_before_pid_integration: 2.0 enable_brake_keeping_before_stop: false brake_keeping_acc: -0.2 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 260ae45da2..69ff96a263 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 @@ -29,5 +29,6 @@ diff_dist_threshold_to_left_bound: 0.29 #[m] diff_dist_threshold_to_right_bound: -0.29 #[m] num_continuous_state_transition: 3 + consider_only_routable_neighbours: false reference_path_resolution: 0.5 #[m] diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml new file mode 100644 index 0000000000..ae1e9d31e6 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + # default tracker models for each class + car_tracker: "multi_vehicle_tracker" + truck_tracker: "multi_vehicle_tracker" + bus_tracker: "multi_vehicle_tracker" + trailer_tracker: "multi_vehicle_tracker" + pedestrian_tracker: "pedestrian_and_bicycle_tracker" + bicycle_tracker: "pedestrian_and_bicycle_tracker" + motorcycle_tracker: "pedestrian_and_bicycle_tracker" + + # default tracker node parameters + publish_rate: 10.0 + world_frame_id: map + enable_delay_compensation: true + pass_through_unknown_objects: false + publish_untracked_objects: false + debug_flag: false 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 f3f04270d6..c68c10f2a9 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 @@ -27,7 +27,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -38,7 +37,6 @@ 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 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -49,7 +47,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -60,7 +57,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -71,7 +67,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -82,7 +77,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -93,7 +87,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -104,7 +97,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -119,6 +111,16 @@ # For target object filtering target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -146,8 +148,22 @@ front_distance: 30.0 # [m] behind_distance: 30.0 # [m] + # params for filtering objects that are in intersection + intersection: + yaw_deviation: 0.349 # [rad] (default 20.0deg) + # For safety check safety_check: + # safety check target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration enable: true # [-] check_current_lane: false # [-] @@ -215,6 +231,10 @@ stop_buffer: 1.0 # [m] policy: + # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". + # "per_shift_line": request approval for each shift line. + # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). + make_approval_request: "per_shift_line" # policy for vehicle slow down behavior. select "best_effort" or "reliable". # "best_effort": slow down deceleration & jerk are limited by constraints. # but there is a possibility that the vehicle can't stop in front of the vehicle. diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index bd8545d9e6..74c6112c0e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -7,7 +7,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 2 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -16,7 +15,6 @@ avoid_margin_lateral: 0.0 # [m] safety_buffer_lateral: 0.0 # [m] truck: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -25,7 +23,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bus: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -34,7 +31,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 trailer: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -43,7 +39,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -52,7 +47,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bicycle: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -61,7 +55,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 motorcycle: - is_target: false execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -70,7 +63,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 pedestrian: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -80,3 +72,16 @@ safety_buffer_lateral: 1.0 lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] + + # For target object filtering + target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: false # [-] + motorcycle: false # [-] + pedestrian: false # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index bf9c815405..854c29aa89 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -28,10 +28,12 @@ cut_in_object: min_time_to_start_cut_in: 1.0 # [s] min_lon_offset_ego_to_object: 0.0 # [m] + min_object_vel: 0.5 # [m/s] cut_out_object: max_time_from_outside_ego_path: 2.0 # [s] min_object_lat_vel: 0.3 # [m/s] + min_object_vel: 0.5 # [m/s] crossing_object: min_overtaking_object_vel: 1.0 @@ -41,8 +43,11 @@ front_object: max_object_angle: 0.785 + min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. drivable_area_generation: + polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] 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 295c9caf84..06fe74e3b7 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 @@ -119,7 +119,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 1.0 - acceleration: 1.0 + min_acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 @@ -130,7 +130,7 @@ safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range - object_check_forward_distance: 10.0 + object_check_forward_distance: 100.0 object_check_backward_distance: 100.0 ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck @@ -159,7 +159,9 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true + method: "integral_predicted_polygon" + keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true publish_debug_marker: false @@ -169,6 +171,11 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + integral_predicted_polygon_params: + forward_margin: 1.0 + backward_margin: 1.0 + lat_margin: 1.0 + time_horizon: 10.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 # temporary diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index c83be4ea15..514d61e225 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -2,8 +2,6 @@ ros__parameters: start_planner: - verbose: false - th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 @@ -85,8 +83,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 0.0 - acceleration: 1.0 - max_velocity: 1.0 + min_acceleration: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 time_resolution: 0.5 @@ -125,7 +122,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true # collision check parameters check_all_predicted_path: true publish_debug_marker: false @@ -140,3 +137,21 @@ # temporary backward_path_length: 30.0 forward_path_length: 100.0 + + surround_moving_obstacle_check: + search_radius: 10.0 + th_moving_obstacle_velocity: 1.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + + # debug + debug: + print_debug_info: 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 d99c70c5f6..d9d2c407bb 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 @@ -27,6 +27,7 @@ # param for stuck vehicles stuck_vehicle: + enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk 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 22f68733a3..1e6ce843de 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 @@ -2,42 +2,47 @@ ros__parameters: intersection: common: - attention_area_margin: 0.75 # [m] - attention_area_length: 200.0 # [m] - attention_area_angle_threshold: 0.785 # [rad] - stop_line_margin: 3.0 - intersection_velocity: 2.778 # 2.778m/s = 10.0km/h - intersection_max_accel: 0.5 # m/ss - stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection + attention_area_length: 200.0 + attention_area_margin: 0.75 + attention_area_angle_threshold: 0.785 use_intersection_area: false - path_interpolation_ds: 0.1 # [m] - consider_wrong_direction_vehicle: false + default_stopline_margin: 3.0 + stopline_overshoot_margin: 0.5 + path_interpolation_ds: 0.1 max_accel: -2.8 max_jerk: -5.0 delay_response_time: 0.5 + 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 - # 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. - yield_stuck: - turn_direction: - left: true - right: false - straight: false - distance_thr: 1.0 # [m] + use_stuck_stopline: true + stuck_vehicle_detect_dist: 5.0 + stuck_vehicle_velocity_threshold: 0.833 + # enable_front_car_decel_prediction: false + # assumed_front_car_decel: 1.0 + timeout_private_area: 3.0 + enable_private_area_stuck_disregard: false + + yield_stuck: + turn_direction: + left: true + right: false + straight: false + distance_threshold: 1.0 collision_detection: - state_transit_margin_time: 0.5 + consider_wrong_direction_vehicle: false + collision_detection_hold_time: 0.5 min_predicted_path_confidence: 0.05 - minimum_ego_predicted_velocity: 1.388 # [m/s] + keep_detection_velocity_threshold: 0.833 + velocity_profile: + use_upstream: true + minimum_upstream_velocity: 0.01 + default_velocity: 2.778 + minimum_default_velocity: 1.388 fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 @@ -45,52 +50,46 @@ collision_start_margin_time: 3.0 collision_end_margin_time: 2.0 not_prioritized: - collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 2.0 # [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 + collision_start_margin_time: 3.0 + collision_end_margin_time: 2.0 yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 3.0 - object_dist_to_stopline: 10.0 # [m] + object_dist_to_stopline: 10.0 ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 # [m/ss] + object_expected_deceleration: 2.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 occlusion: 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 - peeking_offset: -0.5 # [m] offset for peeking into detection area + occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 - 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 - denoise_kernel: 1.0 # [m] - possible_object_bbox: [1.5, 2.5] # [m x m] - ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h - stop_release_margin_time: 1.5 # [s] - temporal_stop_before_attention_area: false - absence_traffic_light: - creep_velocity: 1.388 # [m/s] - maximum_peeking_distance: 6.0 # [m] + denoise_kernel: 1.0 attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.5 + creep_during_peeking: + enable: false + creep_velocity: 0.8333 + peeking_offset: -0.5 + occlusion_required_clearance_distance: 55 + possible_object_bbox: [1.5, 2.5] + ignore_parked_vehicle_speed_threshold: 0.8333 + occlusion_detection_hold_time: 1.5 + temporal_stop_time_before_peeking: 0.1 + temporal_stop_before_attention_area: false + creep_velocity_without_traffic_light: 1.388 static_occlusion_with_traffic_light_timeout: 0.5 debug: ttc: [0] enable_rtc: - intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + intersection: false intersection_to_occlusion: false merge_from_private: - stop_line_margin: 3.0 + stopline_margin: 3.0 stop_duration_sec: 1.0 stop_distance_threshold: 1.0 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 ca24c59598..f265594a38 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 @@ -21,14 +21,17 @@ # parameter to create abstracted dynamic obstacles dynamic_obstacle: - use_mandatory_area: false # [-] whether to use mandatory detection area - min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles - max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles - diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points - height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 10.0 # [sec] create predicted path until this time - time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path - points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method + use_mandatory_area: false # [-] whether to use mandatory detection area + assume_fixed_velocity: + enable: false # [-] If enabled, the obstacle's velocity is assumed to be within the minimum and maximum velocity values specified below + min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles + max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles + std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance + diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points + height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points + max_prediction_time: 10.0 # [sec] create predicted path until this time + time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path + points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method # approach if ego has stopped in the front of the obstacle for a certain amount of time approaching: 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 bb64006656..9ab8f42bcf 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 @@ -8,7 +8,7 @@ debug: # flag to publish - enable_pub_debug_marker: true # publish debug marker + enable_pub_debug_marker: false # publish debug marker enable_pub_extra_debug_marker: false # publish extra debug marker # flag to show 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 4c9f84d5eb..90e897fda3 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 @@ -70,9 +70,6 @@ behavior_determination: decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking - goal_extension_length: 5.0 # extension length for collision check around the goal - goal_extension_interval: 1.0 # extension interval for collision check around the goal - prediction_resampling_time_interval: 0.1 prediction_resampling_time_horizon: 10.0 diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 5672d13dcb..f8c6f9685f 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -89,6 +89,19 @@ error_rate: 1.0 timeout: 1.0 +- module: perception + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: traffic_light_recognition_traffic_signals + topic: /perception/traffic_light_recognition/traffic_signals + topic_type: autoware_perception_msgs/msg/TrafficSignalArray + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: planning mode: [online, logging_simulation, planning_simulation] type: autonomous diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index ece7bee52c..49156fba51 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -81,6 +81,10 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> +