From 1a6f46c2bcd1b9c46f49ad434d081a2ce0fcd900 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 28 Sep 2023 13:24:05 +0900 Subject: [PATCH 1/2] 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 aeb0424bc2..41e92a415c 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 @@ -36,6 +36,8 @@ keep_detection_vel_thr: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] + 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: true From a11ae59a511eafc0fc728526f5095765fae1638c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 8 Nov 2023 18:18:00 +0900 Subject: [PATCH 2/2] feat(intersection): rectify initial accel/velocity profile in ego velocity profile (#677) feat(intersection): rectify smoothed velocity Signed-off-by: Mamoru Sobue --- .../intersection.param.yaml | 12 +++++------- 1 file changed, 5 insertions(+), 7 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 41e92a415c..2e59733ce3 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 @@ -21,21 +21,19 @@ timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area collision_detection: - state_transit_margin_time: 1.0 + state_transit_margin_time: 0.5 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 4.0 - collision_end_margin_time: 6.0 + collision_start_margin_time: 3.0 + 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 + 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: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr - ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 # [m/ss] 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