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Merge pull request #382 from tier4/sync-awf-upstream
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chore: sync tier4/autoware_launch:awf-latest
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tier4-autoware-public-bot[bot] authored Apr 17, 2024
2 parents 458c439 + c9663f0 commit 07c555a
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# -- 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]
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/**:
ros__parameters:
delay_compensation_time: 0.17
delay_compensation_time: 0.1

enable_smooth_stop: true
enable_overshoot_emergency: true
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iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
has_variance: false
has_twist: false
trt_precision: fp16
densification_num_past_frames: 1
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/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 4
max_voxel_size: 40000
point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 1
encoder_in_feature_size: 9
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
has_variance: true
has_twist: true
trt_precision: fp16
densification_num_past_frames: 1
densification_world_frame_id: map

# weight files
encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
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iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
has_variance: false
has_twist: false
trt_precision: fp16
densification_num_past_frames: 1
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detection_range_z_max: 2.5
elevation_grid_mode: true
use_recheck_ground_cluster: true
use_lowest_point: true
low_priority_region_x: -20.0
center_pcl_shift: 0.0
radial_divider_angle_deg: 1.0

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target_object:
car:
execute_num: 2 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
th_moving_speed: 1.0 # [m/s]
th_moving_time: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
lateral_margin:
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hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
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hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
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hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
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hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
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hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
lateral_margin:
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hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
lateral_margin:
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hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
lateral_margin:
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pedestrian: true

# collision check
enable_prepare_segment_collision_check: false
enable_collision_check_for_prepare_phase:
general_lanes: false
intersection: true
turns: true
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
check_objects_on_current_lanes: false
check_objects_on_other_lanes: false
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creep_velocity: 0.8333
peeking_offset: -0.5
occlusion_required_clearance_distance: 55.0
possible_object_bbox: [1.5, 2.5]
possible_object_bbox: [1.75, 2.5]
ignore_parked_vehicle_speed_threshold: 0.8333
occlusion_detection_hold_time: 1.5
temporal_stop_time_before_peeking: 0.1
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ego_cut_line_length: 3.0 # The width of the ego's cut line
ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled

# Parameter to create abstracted dynamic obstacles
dynamic_obstacle:
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<arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>

<!-- package param path -->
<arg name="lat_controller_param_path" value="$(var lat_controller_param_path)"/>
<arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
<arg name="vehicle_cmd_gate_param_path" value="$(find-pkg-share autoware_launch)/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
<arg name="lane_departure_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/lane_departure_checker/lane_departure_checker.param.yaml"/>
<arg name="control_validator_param_path" value="$(find-pkg-share autoware_launch)/config/control/control_validator/control_validator.param.yaml"/>
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