From 602a7d8bec8677311ccc25ea1e1ed236a8c602bb Mon Sep 17 00:00:00 2001 From: "shohei.sakai" Date: Thu, 11 Jul 2024 08:51:10 +0900 Subject: [PATCH 1/2] relax acceleration of emergency stop --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 6e89a18e06..7faf4819c4 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -10,7 +10,7 @@ filter_activated_velocity_threshold: 1.0 external_emergency_stop_heartbeat_timeout: 0.0 stop_hold_acceleration: -1.5 - emergency_acceleration: -4.0 + emergency_acceleration: -2.5 moderate_stop_service_acceleration: -1.5 stopped_state_entry_duration_time: 0.1 stop_check_duration: 1.0 From 8d060b52376fdc378275e17efad0738bbeda95ac Mon Sep 17 00:00:00 2001 From: "shohei.sakai" Date: Thu, 11 Jul 2024 19:28:53 +0900 Subject: [PATCH 2/2] chore acceleration parameters --- .../trajectory_follower/longitudinal/pid.param.yaml | 4 ++-- .../vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 4 ++-- .../behavior_velocity_planner/crosswalk.param.yaml | 12 ++++++------ .../mrm_comfortable_stop_operator.param.yaml | 4 ++-- 4 files changed, 12 insertions(+), 12 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 688e650de1..dd4e69c075 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -63,11 +63,11 @@ # acceleration limit max_acc: 1.86 - min_acc: -6.00 + min_acc: -3.36 # jerk limit max_jerk: 2.0 - min_jerk: -30.0 + min_jerk: -5.0 # slope compensation # pitch diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 7faf4819c4..b9edd23f0c 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -19,8 +19,8 @@ reference_speed_points: [20.0, 30.0] steer_lim: [1.0, 0.8] steer_rate_lim: [1.0, 0.8] - lon_acc_lim: [6.0, 6.0] - lon_jerk_lim: [30.0, 30.0] + lon_acc_lim: [5.0, 4.0] + lon_jerk_lim: [5.0, 4.0] lat_acc_lim: [5.0, 4.0] lat_jerk_lim: [7.0, 6.0] actual_steer_diff_lim: [1.0, 0.8] 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 88d730f654..9db75db825 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 @@ -31,9 +31,9 @@ stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not. max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path. required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle - min_acc: -2.8 # min acceleration [m/ss] - min_jerk: -5.0 # min jerk [m/sss] - max_jerk: 5.0 # max jerk [m/sss] + min_acc: -1.0 # min acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles pass_judge: @@ -47,9 +47,9 @@ no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. - min_acc: -2.8 # min acceleration [m/ss] - min_jerk: -5.0 # min jerk [m/sss] - max_jerk: 5.0 # max jerk [m/sss] + min_acc: -1.0 # min acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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) diff --git a/autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml index 7868246909..81bc9b9c0b 100644 --- a/autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml +++ b/autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml @@ -2,5 +2,5 @@ ros__parameters: update_rate: 10 min_acceleration: -1.0 - max_jerk: 0.6 - min_jerk: -0.6 + max_jerk: 0.3 + min_jerk: -0.3