From 449bb6940fad16642734146dca04922fb767b96f Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 29 Aug 2023 19:31:26 +0900 Subject: [PATCH 1/3] feat(autoware_launch): set larger max_area for pedestrian with umbrella (#535) set larger max_area for pedestrian with umbrella Signed-off-by: yoshiri --- .../multi_object_tracker/data_association_matrix.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml index 69af202e7a..13f2220655 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml @@ -30,9 +30,9 @@ 36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRAILER - 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE - 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE - 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.50, #MOTORBIKE + 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.50, #BICYCLE + 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 2.00, 2.00, 1.50] #PEDESTRIAN min_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN From 87021c6ce04e6fae68449969c4a20aa313bbbda6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 01:49:21 +0900 Subject: [PATCH 2/3] feat(autoware_launch): add min_longitudinal_polygon_margin and use object_path_base in dynamic_avoidance (#534) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index fad859ac16..fe30397683 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -2,7 +2,7 @@ ros__parameters: dynamic_avoidance: common: - enable_debug_info: true + enable_debug_info: false use_hatched_road_markings: true # avoidance is performed for the object type with true @@ -42,7 +42,9 @@ max_object_angle: 0.785 drivable_area_generation: - polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" + polygon_generation_method: "object_path_base" # choose "ego_path_base" and "object_path_base" + object_path_base: + min_longitudinal_polygon_margin: 3.0 # [m] lat_offset_from_obstacle: 0.8 # [m] max_lat_offset_to_avoid: 0.5 # [m] From 0bd22cd6c19c3f1f6874217121fbedf2a1d89642 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 30 Aug 2023 08:45:34 +0900 Subject: [PATCH 3/3] feat(autoware_launch): add max_crosswalk_user_delta_yaw_threshold_for_lanelet in map_based_prediction (#536) Signed-off-by: Takayuki Murooka --- .../prediction/map_based_prediction.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index 1f6def2491..31fae9c811 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -5,6 +5,7 @@ prediction_sampling_delta_time: 0.5 #[s] min_velocity_for_map_based_prediction: 1.39 #[m/s] min_crosswalk_user_velocity: 1.39 #[m/s] + max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s] dist_threshold_for_searching_lanelet: 3.0 #[m] delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad] sigma_lateral_offset: 0.5 #[m]