From 1412557da91d3d6f8b5c9ec8ad526424f5a5b7c6 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 19 Sep 2024 14:32:27 +0900 Subject: [PATCH 1/3] refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (#8913) * align autoware_raw_vehicle_cmd_converter's parameter Signed-off-by: kyoichi-sugahara * align start_planner's parameter Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../config/start_planner.param.yaml | 11 +++++++++-- .../config/raw_vehicle_cmd_converter.param.yaml | 2 +- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml index f93800450a479..a71c202b05043 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml @@ -69,10 +69,11 @@ search_configs: theta_size: 120 angle_goal_range: 6.0 - curve_weight: 0.5 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 @@ -81,7 +82,13 @@ search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index 4eb9f0ab6d442..e108de527ecbc 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -5,7 +5,7 @@ csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true - convert_steer_cmd: true + convert_steer_cmd: false use_steer_ff: true use_steer_fb: true is_debugging: false From 3ae8633a7e87457ca110f36c072a2e66758e3899 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Sep 2024 15:19:37 +0900 Subject: [PATCH 2/3] chore(mpc_lateral_controller): consistent parameters with autoware_launch (#8914) Signed-off-by: Takayuki Murooka --- .../param/lateral_controller_defaults.param.yaml | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml index de194a8902a7d..b358e95f86f99 100644 --- a/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml +++ b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml @@ -47,7 +47,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.27 # 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] @@ -76,13 +76,4 @@ average_num: 1000 steering_offset_limit: 0.02 - # vehicle parameters - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 - publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose From ed81a555a3eae4806c81296cc011cd3ebdc1ace6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Sep 2024 16:02:09 +0900 Subject: [PATCH 3/3] chore(planning): consistent parameters with autoware_launch (#8915) * chore(planning): consistent parameters with autoware_launch Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * fix json schema Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../config/adaptive_cruise_control.param.yaml | 4 ++-- .../config/obstacle_stop_planner.param.yaml | 23 ++++++++++--------- .../schema/obstacle_stop_planner.schema.json | 5 ++++ .../config/goal_planner.param.yaml | 15 +++++++++--- .../config/behavior_path_planner.param.yaml | 1 + .../config/out_of_lane.param.yaml | 1 + 6 files changed, 33 insertions(+), 16 deletions(-) diff --git a/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml b/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml index 691be53a7470f..73e7a578fedb7 100644 --- a/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml +++ b/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml @@ -10,16 +10,16 @@ obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] + obstacle_emergency_stop_acceleration: -5.0 emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] min_dist_stop: 4.0 # minimum distance of emergency stop [m] - obstacle_emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss] min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] min_dist_standard: 4.0 # minimum distance in active cruise control [m] obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-] - use_time_compensation_to_calc_distance: true # use time-compensation to calculate distance to forward vehicle + use_time_compensation_to_calc_distance: true # pid parameter for ACC p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-] diff --git a/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml index ca5869bce0eb6..8e215a1bcf236 100644 --- a/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml +++ b/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml @@ -1,22 +1,23 @@ /**: ros__parameters: - chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] - max_velocity: 20.0 # max velocity [m/s] - enable_slow_down: False # whether to use slow down planner [-] - enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] - z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] - voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] - voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] - voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] - use_predicted_objects : False # whether to use predicted objects [-] - publish_obstacle_polygon: False # whether to publish obstacle polygon [-] + chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] + lowpass_gain: 0.9 # gain parameter for low pass filter [-] + max_velocity: 20.0 # max velocity [m/s] + enable_slow_down: False # whether to use slow down planner [-] + enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] + z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] + voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] + voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] + voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] + use_predicted_objects: False # whether to use predicted objects [-] + publish_obstacle_polygon: False # whether to publish obstacle polygon [-] predicted_object_filtering_threshold: 1.5 # threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m] stop_planner: # params for stop position stop_position: max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] - max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind the goal on the path [m] + max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m] min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] diff --git a/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json b/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json index cb2765233c5a0..cfcce06d519bc 100644 --- a/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json +++ b/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json @@ -11,6 +11,11 @@ "description": "even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]", "default": "0.5" }, + "lowpass_gain": { + "type": "number", + "description": "gain parameter for low pass filter [-]", + "default": "0.9" + }, "max_velocity": { "type": "number", "description": "max velocity [m/s]", diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 58a8f5d074fca..5eb71126bb838 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -41,13 +41,14 @@ object_recognition: use_object_recognition: true collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented. - collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker. + collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 detection_bound_offset: 15.0 outer_road_detection_offset: 1.0 inner_road_detection_offset: 0.0 + # pull over pull_over: minimum_request_length: 0.0 @@ -101,10 +102,11 @@ search_configs: theta_size: 120 angle_goal_range: 6.0 - curve_weight: 0.5 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 @@ -113,7 +115,13 @@ search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true @@ -130,6 +138,7 @@ ego_predicted_path: min_velocity: 1.0 min_acceleration: 1.0 + max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 time_resolution: 0.5 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml index d94d4e2e8a8a1..41f8f53a8f17c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml @@ -1,6 +1,7 @@ /**: ros__parameters: traffic_light_signal_timeout: 1.0 + planning_hz: 10.0 backward_path_length: 5.0 forward_path_length: 300.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml index a4ab065539bdb..150478ce268b2 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -3,6 +3,7 @@ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc" skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored max_arc_length: 100.0 # [m] maximum trajectory arc length that is checked for out_of_lane collisions threshold: