From 5ba1301ca2be42405d18915f1441c22a35b3ad8e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 8 Nov 2023 18:18:00 +0900 Subject: [PATCH 01/17] feat(intersection): rectify initial accel/velocity profile in ego velocity profile (#677) feat(intersection): rectify smoothed velocity Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 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 960dd89b00..22f68733a3 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 @@ -35,18 +35,18 @@ distance_thr: 1.0 # [m] collision_detection: - state_transit_margin_time: 0.0 + 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: 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 From 0cd5d891a36ac34a32a417205905c109f2bafe7b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 08:09:17 +0900 Subject: [PATCH 02/17] refactor(launch): add new option to select planning preset (#680) * chore(config): remove behavior launch modules Signed-off-by: satoshi-ota * refactor(config): add preset yaml file Signed-off-by: satoshi-ota * refactor(launch): add new option to select planning preset Signed-off-by: satoshi-ota * refactor(config): remove unused params Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../planning/preset/default_preset.yaml | 120 ++++++++++++++++++ .../behavior_path_planner.param.yaml | 3 - .../scene_module_manager.param.yaml | 10 -- .../behavior_velocity_planner.param.yaml | 16 --- autoware_launch/launch/autoware.launch.xml | 7 +- .../tier4_planning_component.launch.xml | 24 +--- .../launch/e2e_simulator.launch.xml | 5 + .../launch/logging_simulator.launch.xml | 5 + .../launch/planning_simulator.launch.xml | 5 + 9 files changed, 147 insertions(+), 48 deletions(-) create mode 100644 autoware_launch/config/planning/preset/default_preset.yaml diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml new file mode 100644 index 0000000000..a6f2ed025d --- /dev/null +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -0,0 +1,120 @@ +launch: + # behavior path modules + - arg: + name: launch_avoidance_module + default: "true" + - arg: + name: launch_avoidance_by_lane_change_module + default: "true" + - arg: + name: launch_dynamic_avoidance_module + default: "false" + - arg: + name: launch_lane_change_right_module + default: "true" + - arg: + name: launch_lane_change_left_module + default: "true" + - arg: + name: launch_external_request_lane_change_right_module + default: "false" + - arg: + name: launch_external_request_lane_change_left_module + default: "false" + - arg: + name: launch_goal_planner_module + default: "true" + - arg: + name: launch_start_planner_module + default: "true" + - arg: + name: launch_side_shift_module + default: "true" + - arg: + name: use_experimental_lane_change_function + default: "true" + + # behavior velocity modules + - arg: + name: launch_crosswalk_module + default: "true" + - arg: + name: launch_walkway_module + default: "true" + - arg: + name: launch_traffic_light_module + default: "true" + - arg: + name: launch_intersection_module + default: "true" + - arg: + name: launch_merge_from_private_module + default: "true" + - arg: + name: launch_blind_spot_module + default: "true" + - arg: + name: launch_detection_area_module + default: "true" + - arg: + name: launch_virtual_traffic_light_module + default: "false" + - arg: + name: launch_no_stopping_area_module + default: "true" + - arg: + name: launch_stop_line_module + default: "true" + - arg: + name: launch_occlusion_spot_module + default: "false" + - arg: + name: launch_run_out_module + default: "false" + - arg: + name: launch_speed_bump_module + default: "false" + - arg: + name: launch_out_of_lane_module + default: "true" + - arg: + name: launch_no_drivable_lane_module + default: "false" + + # motion planning modules + - arg: + name: motion_path_smoother_type + default: elastic_band + # option: elastic_band + # none + + - arg: + name: motion_path_planner_type + default: obstacle_avoidance_planner + # option: obstacle_avoidance_planner + # path_sampler + # none + + - arg: + name: motion_stop_planner_type + default: obstacle_stop_planner + # option: obstacle_stop_planner + # obstacle_cruise_planner + # none + + - arg: + name: motion_velocity_smoother_type + default: JerkFiltered + # option: JerkFiltered + # L2 + # Linf(Unstable) + # Analytical + + - arg: + name: launch_surround_obstacle_checker + default: "true" + + # parking modules + - arg: + name: launch_parking_module + default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 6acbe9783d..8d93a95b37 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -5,9 +5,6 @@ traffic_light_signal_timeout: 1.0 - groot_zmq_publisher_port: 1666 - groot_zmq_server_port: 1667 - planning_hz: 10.0 backward_path_length: 5.0 forward_path_length: 300.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 1fc83edd08..0090a29926 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -4,7 +4,6 @@ /**: ros__parameters: external_request_lane_change_left: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -13,7 +12,6 @@ max_module_size: 1 external_request_lane_change_right: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -22,7 +20,6 @@ max_module_size: 1 lane_change_left: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -31,7 +28,6 @@ max_module_size: 1 lane_change_right: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -40,7 +36,6 @@ max_module_size: 1 start_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -49,7 +44,6 @@ max_module_size: 1 side_shift: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -58,7 +52,6 @@ max_module_size: 1 goal_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -67,7 +60,6 @@ max_module_size: 1 avoidance: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -76,7 +68,6 @@ max_module_size: 1 avoidance_by_lc: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -85,7 +76,6 @@ max_module_size: 1 dynamic_avoidance: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7a0ef047f7..aa51c38b55 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -8,19 +8,3 @@ system_delay: 0.5 delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module - launch_modules: - - behavior_velocity_planner::CrosswalkModulePlugin - - behavior_velocity_planner::WalkwayModulePlugin - - behavior_velocity_planner::TrafficLightModulePlugin - - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. - - behavior_velocity_planner::MergeFromPrivateModulePlugin - - behavior_velocity_planner::BlindSpotModulePlugin - - behavior_velocity_planner::DetectionAreaModulePlugin - # behavior_velocity_planner::VirtualTrafficLightModulePlugin - - behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom. - - behavior_velocity_planner::StopLineModulePlugin # Permanent stop line module should be after no stopping area - # behavior_velocity_planner::OcclusionSpotModulePlugin - # behavior_velocity_planner::RunOutModulePlugin - # behavior_velocity_planner::SpeedBumpModulePlugin - - behavior_velocity_planner::OutOfLaneModulePlugin - # behavior_velocity_planner::NoDrivableLaneModulePlugin diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 5d98c9388f..80822d0146 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -8,6 +8,9 @@ + + + @@ -98,7 +101,9 @@ - + + + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 5f14006f7a..5fb17541cd 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -1,24 +1,8 @@ - - - - - - - - - - - - - - - - - - + + @@ -26,6 +10,7 @@ + @@ -34,6 +19,7 @@ + @@ -46,6 +32,7 @@ + @@ -68,6 +55,7 @@ + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index fe8d1de1d8..d920584c6c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -6,6 +6,9 @@ + + + @@ -43,6 +46,8 @@ + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 7eb13135d3..a2b66e91ed 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -7,6 +7,9 @@ + + + @@ -39,6 +42,8 @@ + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index fdc86ebba7..28a0f0e347 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -6,6 +6,9 @@ + + + @@ -39,6 +42,8 @@ + + From 29ea47918ee51ea3326c26457f64b60175b8076e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 9 Nov 2023 19:59:58 +0900 Subject: [PATCH 03/17] feat: enable the run_out module (#683) feat: enable run_out Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../behavior_velocity_planner/run_out.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index a6f2ed025d..fa4a2e4308 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -70,7 +70,7 @@ launch: default: "false" - arg: name: launch_run_out_module - default: "false" + default: "true" - arg: name: launch_speed_bump_module default: "false" 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 2641214ac5..ca24c59598 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 @@ -45,7 +45,7 @@ # parameter to avoid sudden stopping slow_down_limit: - enable: true + enable: false max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. From 2b25e8126d8ef84e6eb04310b29ecf599a886b22 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 13 Nov 2023 20:16:50 +0900 Subject: [PATCH 04/17] fix(perception): add detection_by_tracker param file (#676) Signed-off-by: badai-nguyen --- .../detection_by_tracker.param.yaml | 11 +++++++++++ .../components/tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 15 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml new file mode 100644 index 0000000000..6957040506 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + tracker_ignore_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 5959d58e18..db79336fb5 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -64,6 +64,10 @@ name="object_recognition_detection_object_merger_distance_threshold_list_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> + Date: Tue, 14 Nov 2023 11:03:57 +0900 Subject: [PATCH 05/17] feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters (#681) * add moving parameters for testing Signed-off-by: Daniel Sanchez * param tuning for tests Signed-off-by: Daniel Sanchez * wip params for velocity-based obscruise planner Signed-off-by: Daniel Sanchez * add different values for debugging Signed-off-by: Daniel Sanchez * set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez * set params to match previous values Signed-off-by: Daniel Sanchez * eliminate pedestrian mention Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) 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 ddea1a9b56..4c9f84d5eb 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 @@ -182,10 +182,19 @@ labels: - "default" default: - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + moving: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 + static: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 + + moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving" + moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold time_margin_on_target_velocity: 1.5 # [s] From 064c458ff916dfb34da3c460cfac797afef3bf9f Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 14 Nov 2023 15:05:11 +0900 Subject: [PATCH 06/17] feat(duplicated_node_checker): enable duplicated_node_checker in simulation (#686) Enable duplicated node checker in planning simulation Signed-off-by: kyoichi-sugahara --- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 522dbb51ee..3fd6264376 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -39,7 +39,7 @@ /autoware/system/emergency_stop_operation: default /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - # /autoware/system/duplicated_node_checker: default + /autoware/system/duplicated_node_checker: default /autoware/vehicle/node_alive_monitoring: default From 81b9f112dff791bb67ec50e175482e645a6e7434 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 14 Nov 2023 21:37:26 +0900 Subject: [PATCH 07/17] feat: add motion_velocity_smoother's virtual wall in rviz (#684) Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index fda080bfcf..c30060659a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2140,6 +2140,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group From c97cf8bb8d23e93a39e4b31a69ffac90c79ab753 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 15 Nov 2023 23:26:03 +0900 Subject: [PATCH 08/17] fix(detected_object_validation): add param (#669) * fix(detected_object_validation): add param Signed-off-by: badai-nguyen * fix: change to 2d validator use Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../obstacle_pointcloud_based_validator.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml index 22999b411f..b98f8adfb5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -11,3 +11,5 @@ min_points_and_distance_ratio: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + + using_2d_validator: true From 6679b5dec598dd78e05cec1057a3089091d0d9e1 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Thu, 16 Nov 2023 15:25:09 +0900 Subject: [PATCH 09/17] feat(radar_object_clustering): move radar object clustering params to autoware_launch (#672) * add radar object clustering param path Signed-off-by: yoshiri * style(pre-commit): autofix --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../clustering/radar_object_clustering.param.yaml | 15 +++++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 19 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml new file mode 100644 index 0000000000..2abbf14622 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # clustering parameter + angle_threshold: 0.174 # [rad] (10 deg) + distance_threshold: 10.0 # [m] + velocity_threshold: 4.0 # [m/s] + + # output object settings + # set false if you want to use the object information from radar + is_fixed_label: true + fixed_label: "CAR" + is_fixed_size: true + size_x: 4.0 # [m] + size_y: 1.5 # [m] + size_z: 1.5 # [m] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index db79336fb5..ece7bee52c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -72,6 +72,10 @@ name="object_recognition_detection_radar_lanelet_filtering_range_param" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml" /> + Date: Thu, 16 Nov 2023 17:10:30 +0900 Subject: [PATCH 10/17] fix(avoidance): prevent sudden steering at yield maneuver (#690) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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 98d75415d0..f3f04270d6 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 @@ -190,7 +190,8 @@ max_deviation_from_lane: 0.5 # [m] # avoidance distance parameters longitudinal: - prepare_time: 2.0 # [s] + min_prepare_time: 1.0 # [s] + max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] From 8f660e4def5910b811fcc42c454e7b70bb5c3650 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 16 Nov 2023 18:06:08 +0900 Subject: [PATCH 11/17] feat(out_of_lane): more stable decisions (#612) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/out_of_lane.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index c74c5b3d87..b55c3b21de 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -2,7 +2,7 @@ ros__parameters: 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", "intervals", or "ttc" - skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane + skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane threshold: time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time @@ -17,6 +17,7 @@ use_predicted_paths: true # if true, use the predicted paths to estimate future positions. # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered @@ -26,6 +27,7 @@ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap velocity: 2.0 # [m/s] slowdown velocity From 31961eb34ec34f589bd732f946a4b62edc3ba2b8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 23:07:25 +0900 Subject: [PATCH 12/17] feat: lane_departure_checker with curbstones (#687) Signed-off-by: Takayuki Murooka --- .../lane_departure_checker.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 2d044e7cfd..253737609b 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: # Enable feature - will_out_of_lane_checker: true - out_of_lane_checker: true - boundary_departure_checker: false + will_out_of_lane_checker: false + out_of_lane_checker: false + boundary_departure_checker: true # Node update_rate: 10.0 @@ -12,7 +12,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false - boundary_types_to_detect: [road_border] + boundary_types_to_detect: [curbstone] # Core footprint_margin_scale: 1.0 From 3c9d39d3d3bc11fab08e6d3f726fe4ce980bbaba Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 23:13:45 +0900 Subject: [PATCH 13/17] feat: enable and tune drivable area expansion (#689) enable drivable area expansion Signed-off-by: Takayuki Murooka --- .../drivable_area_expansion.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index e1a0c7e38d..0558f6c606 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -7,7 +7,7 @@ # Dynamic expansion by using the path curvature dynamic_expansion: - enabled: false + enabled: true print_runtime: false max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) smoothing: @@ -19,14 +19,14 @@ extra_front_overhang: 0.5 # [m] extra length to add to the front overhang extra_width: 1.0 # [m] extra length to add to the width dynamic_objects: - avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects + avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the dynamic object footprint rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint left: 0.5 # [m] extra length to add to the left of the dynamic object footprint right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint path_preprocessing: - max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) + max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used) reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused. avoid_linestring: From 1d365edfca6263fb164e360147b94d7f977a36cd Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 17 Nov 2023 15:57:23 +0900 Subject: [PATCH 14/17] fix(lane_change): regulate at the traffic light (#673) Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index b7ae55536e..366c093901 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -88,6 +88,7 @@ regulation: crosswalk: false intersection: false + traffic_light: true # ego vehicle stuck detection stuck_detection: From aa96dead98ffb1fc09dd6d2c630ac2257b1dc219 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 20 Nov 2023 10:33:14 +0900 Subject: [PATCH 15/17] feat(component_state_monitor): monitor pose_estimator output (#692) Signed-off-by: kminoda --- .../system/component_state_monitor/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index c00203dbb6..5672d13dcb 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -50,6 +50,19 @@ error_rate: 1.0 timeout: 1.0 +- module: localization + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: pose_estimator_pose + topic: /localization/pose_estimator/pose_with_covariance + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: perception mode: [online, logging_simulation] type: launch From 6f2b8ba8332153e23f3c50daefbd3900e3adb584 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 20 Nov 2023 18:13:18 +0900 Subject: [PATCH 16/17] refactor(start_planner): add verbose parameter for debug print (#693) Add verbose option to start planner parameters Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 1424b58d22..7652cf1e6f 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 @@ -1,6 +1,9 @@ /**: ros__parameters: start_planner: + + verbose: true + th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 From d46616183681682d2b5747e39a7bee71a7786e6c Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 21 Nov 2023 10:25:32 +0900 Subject: [PATCH 17/17] fix(start_planner): disbale verbose flag to false in start_planner.param.yaml (#696) Change verbose flag to false in start_planner.param.yaml Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 7652cf1e6f..c83be4ea15 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 @@ -2,7 +2,7 @@ ros__parameters: start_planner: - verbose: true + verbose: false th_arrived_distance: 1.0 th_stopped_velocity: 0.01