From 258c5665c25e5eae515d538abefec345fc9ef544 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 24 Nov 2023 17:07:10 +0900 Subject: [PATCH 01/21] feat(goal_planner): add time hysteresis to keep unsafe (#700) feat(goal_planner): add tiem hysteresis to keep unsafe Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 295c9caf84..d04676f365 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -160,6 +160,7 @@ safety_check_params: # safety check configuration enable_safety_check: false # Don't set to true if auto_mode is enabled + keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true publish_debug_marker: false From fbc524f774b87d4c07a09df622f0beb7d57900f9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 24 Nov 2023 17:31:08 +0900 Subject: [PATCH 02/21] feat(start_planner): enable safety check for start planner (#702) Enable safety check feature for start planner 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 c83be4ea15..6f85128264 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 @@ -125,7 +125,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true # collision check parameters check_all_predicted_path: true publish_debug_marker: false From 5a4fbf425d3f4c5e253c21abc012d13fb65d3fc7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 24 Nov 2023 19:10:45 +0900 Subject: [PATCH 03/21] feat(avoidance): add new parameter for target object filtering (#668) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 f3f04270d6..d3032ffdd3 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 @@ -146,6 +146,10 @@ front_distance: 30.0 # [m] behind_distance: 30.0 # [m] + # params for filtering objects that are in intersection + intersection: + yaw_deviation: 0.349 # [rad] (default 20.0deg) + # For safety check safety_check: # safety check configuration From 7580bc72aa13f8de753237693f757a171171327c Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Sat, 25 Nov 2023 15:57:39 +0900 Subject: [PATCH 04/21] feat(map_based_prediction): consider only routable neighbours for lane change (#703) Signed-off-by: Mehmet Dogru --- .../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 260ae45da2..69ff96a263 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 @@ -29,5 +29,6 @@ diff_dist_threshold_to_left_bound: 0.29 #[m] diff_dist_threshold_to_right_bound: -0.29 #[m] num_continuous_state_transition: 3 + consider_only_routable_neighbours: false reference_path_resolution: 0.5 #[m] From 860dc12299f6a34be8c48da9b8bae6e3c6a7b602 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 26 Nov 2023 23:18:48 +0900 Subject: [PATCH 05/21] feat(goal_planner): safer safety checker (#701) * feat(goal_planner): safer safety checker Signed-off-by: kosuke55 fix fix fix fix * disable safety check Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d04676f365..118268d854 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -130,7 +130,7 @@ safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range - object_check_forward_distance: 10.0 + object_check_forward_distance: 100.0 object_check_backward_distance: 100.0 ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck @@ -160,6 +160,7 @@ safety_check_params: # safety check configuration enable_safety_check: false # Don't set to true if auto_mode is enabled + method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true @@ -170,6 +171,11 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + integral_predicted_polygon_params: + forward_margin: 1.0 + backward_margin: 1.0 + lat_margin: 1.0 + time_horizon: 10.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 # temporary From 17a27ac72db3391ea495246de5c3519d20951896 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 26 Nov 2023 23:23:37 +0900 Subject: [PATCH 06/21] feat(goal_planenr): enable safety check (#705) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 118268d854..d339ed99ff 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -159,7 +159,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: false # Don't set to true if auto_mode is enabled + enable_safety_check: true method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters From 1e78babc7f99c89c26f0328f16bace420f6461bd Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Sun, 26 Nov 2023 23:25:50 +0900 Subject: [PATCH 07/21] feat(run_out): add parameter to decide whether to use the object's velocity (#704) Signed-off-by: Tomohito Ando --- .../run_out.param.yaml | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) 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 ca24c59598..f265594a38 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 @@ -21,14 +21,17 @@ # parameter to create abstracted dynamic obstacles dynamic_obstacle: - use_mandatory_area: false # [-] whether to use mandatory detection area - min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles - max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles - diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points - height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 10.0 # [sec] create predicted path until this time - time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path - points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method + use_mandatory_area: false # [-] whether to use mandatory detection area + assume_fixed_velocity: + enable: false # [-] If enabled, the obstacle's velocity is assumed to be within the minimum and maximum velocity values specified below + min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles + max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles + std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance + diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points + height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points + max_prediction_time: 10.0 # [sec] create predicted path until this time + time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path + points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method # approach if ego has stopped in the front of the obstacle for a certain amount of time approaching: From 1a37eb39848349169aed74f62f7c1c5a34dfa76e Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 27 Nov 2023 09:07:58 +0900 Subject: [PATCH 08/21] feat(pid_longitudinal_controller): error integration on vehicle takeoff (#698) * add parameter for PID integration time threshold Signed-off-by: Daniel Sanchez * add param to enable or disable low speed error integration Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 bc3213081d..c39088753f 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -32,7 +32,9 @@ max_d_effort: 0.0 min_d_effort: 0.0 lpf_vel_error_gain: 0.9 + enable_integration_at_low_speed: false current_vel_threshold_pid_integration: 0.5 + time_threshold_before_pid_integration: 2.0 enable_brake_keeping_before_stop: false brake_keeping_acc: -0.2 From 1076688c21b65444ee1516833505f1988e29af39 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 27 Nov 2023 13:56:08 +0900 Subject: [PATCH 09/21] feat: add parameters for the front object decision in dynamic_avoidance module (#706) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 bf9c815405..9ee86a06a4 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 @@ -41,6 +41,8 @@ front_object: max_object_angle: 0.785 + min_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. drivable_area_generation: object_path_base: From 5ec4778d3ad60d9c037cb391deedd63377eaf17f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 28 Nov 2023 19:29:17 +0900 Subject: [PATCH 10/21] feat(avoidance): configurable object type for safety check (#709) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 28 +++++++++++++------ .../avoidance_by_lc.param.yaml | 21 ++++++++------ 2 files changed, 33 insertions(+), 16 deletions(-) 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 d3032ffdd3..27f6a0df63 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 @@ -27,7 +27,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -38,7 +37,6 @@ safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -49,7 +47,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -60,7 +57,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -71,7 +67,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -82,7 +77,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -93,7 +87,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -104,7 +97,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -119,6 +111,16 @@ # For target object filtering target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -152,6 +154,16 @@ # For safety check safety_check: + # safety check target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration enable: true # [-] check_current_lane: false # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index bd8545d9e6..74c6112c0e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -7,7 +7,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 2 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -16,7 +15,6 @@ avoid_margin_lateral: 0.0 # [m] safety_buffer_lateral: 0.0 # [m] truck: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -25,7 +23,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bus: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -34,7 +31,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 trailer: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -43,7 +39,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -52,7 +47,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bicycle: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -61,7 +55,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 motorcycle: - is_target: false execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -70,7 +63,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 pedestrian: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -80,3 +72,16 @@ safety_buffer_lateral: 1.0 lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] + + # For target object filtering + target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: false # [-] + motorcycle: false # [-] + pedestrian: false # [-] From 27794596739362fe2784cc38143d7d660c45e279 Mon Sep 17 00:00:00 2001 From: Naophis Date: Wed, 29 Nov 2023 17:47:05 +0900 Subject: [PATCH 11/21] feat: disable obstacle avoidance debug marker for optimization (#711) feat: disable obstacle avoidance debug marker --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index bb64006656..9ab8f42bcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -8,7 +8,7 @@ debug: # flag to publish - enable_pub_debug_marker: true # publish debug marker + enable_pub_debug_marker: false # publish debug marker enable_pub_extra_debug_marker: false # publish extra debug marker # flag to show From 51157f2c793423d1c2e22e9054dc4c747934cd0a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 30 Nov 2023 11:40:03 +0900 Subject: [PATCH 12/21] feat: add several min_object_vel in dynamic_avoidance (#707) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 9ee86a06a4..24bc144c40 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 @@ -28,10 +28,12 @@ cut_in_object: min_time_to_start_cut_in: 1.0 # [s] min_lon_offset_ego_to_object: 0.0 # [m] + min_object_vel: 0.5 # [m/s] cut_out_object: max_time_from_outside_ego_path: 2.0 # [s] min_object_lat_vel: 0.3 # [m/s] + min_object_vel: 0.5 # [m/s] crossing_object: min_overtaking_object_vel: 1.0 @@ -41,7 +43,7 @@ front_object: max_object_angle: 0.785 - min_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. drivable_area_generation: From 388d19c391b7f81ddbf5e4d40dc0bcbdd9b618df Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 30 Nov 2023 20:54:46 +0900 Subject: [PATCH 13/21] fix(crosswalk): don't stop in front of the crosswalk if vehicle stuck in intersection (#714) Signed-off-by: satoshi-ota --- .../behavior_velocity_planner/crosswalk.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 d99c70c5f6..d9d2c407bb 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 @@ -27,6 +27,7 @@ # param for stuck vehicles stuck_vehicle: + enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk From afdc3fb18a15556ed70444fdebefe6de8ad12744 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 1 Dec 2023 21:25:48 +0900 Subject: [PATCH 14/21] feat(avoidance): keep stopping until all shift lines are registered (#699) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 27f6a0df63..c68c10f2a9 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 @@ -231,6 +231,10 @@ stop_buffer: 1.0 # [m] policy: + # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". + # "per_shift_line": request approval for each shift line. + # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). + make_approval_request: "per_shift_line" # policy for vehicle slow down behavior. select "best_effort" or "reliable". # "best_effort": slow down deceleration & jerk are limited by constraints. # but there is a possibility that the vehicle can't stop in front of the vehicle. From 608beba558bedd503d2d825ce68df160ad436605 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Sat, 2 Dec 2023 05:24:24 +0900 Subject: [PATCH 15/21] refactor(intersection): rename param, update doc (#708) --- .../intersection.param.yaml | 97 +++++++++---------- 1 file changed, 48 insertions(+), 49 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 22f68733a3..1e6ce843de 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 @@ -2,42 +2,47 @@ ros__parameters: intersection: common: - attention_area_margin: 0.75 # [m] - attention_area_length: 200.0 # [m] - attention_area_angle_threshold: 0.785 # [rad] - stop_line_margin: 3.0 - intersection_velocity: 2.778 # 2.778m/s = 10.0km/h - intersection_max_accel: 0.5 # m/ss - stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection + attention_area_length: 200.0 + attention_area_margin: 0.75 + attention_area_angle_threshold: 0.785 use_intersection_area: false - path_interpolation_ds: 0.1 # [m] - consider_wrong_direction_vehicle: false + default_stopline_margin: 3.0 + stopline_overshoot_margin: 0.5 + path_interpolation_ds: 0.1 max_accel: -2.8 max_jerk: -5.0 delay_response_time: 0.5 + stuck_vehicle: turn_direction: left: true right: true straight: true - use_stuck_stopline: true # stopline generated before the first conflicting area - stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. - stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h - # enable_front_car_decel_prediction: false # By default this feature is disabled - # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning - timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area - enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true. - yield_stuck: - turn_direction: - left: true - right: false - straight: false - distance_thr: 1.0 # [m] + use_stuck_stopline: true + stuck_vehicle_detect_dist: 5.0 + stuck_vehicle_velocity_threshold: 0.833 + # enable_front_car_decel_prediction: false + # assumed_front_car_decel: 1.0 + timeout_private_area: 3.0 + enable_private_area_stuck_disregard: false + + yield_stuck: + turn_direction: + left: true + right: false + straight: false + distance_threshold: 1.0 collision_detection: - state_transit_margin_time: 0.5 + consider_wrong_direction_vehicle: false + collision_detection_hold_time: 0.5 min_predicted_path_confidence: 0.05 - minimum_ego_predicted_velocity: 1.388 # [m/s] + keep_detection_velocity_threshold: 0.833 + velocity_profile: + use_upstream: true + minimum_upstream_velocity: 0.01 + default_velocity: 2.778 + minimum_default_velocity: 1.388 fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 @@ -45,52 +50,46 @@ collision_start_margin_time: 3.0 collision_end_margin_time: 2.0 not_prioritized: - 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 + collision_start_margin_time: 3.0 + collision_end_margin_time: 2.0 yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 3.0 - object_dist_to_stopline: 10.0 # [m] + object_dist_to_stopline: 10.0 ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 # [m/ss] + object_expected_deceleration: 2.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 occlusion: enable: false - occlusion_attention_area_length: 70.0 # [m] - enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line - occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line - peeking_offset: -0.5 # [m] offset for peeking into detection area + occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 - do_dp: true - before_creep_stop_time: 0.1 # [s] - min_vehicle_brake_for_rss: -2.5 # [m/s^2] - max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph - denoise_kernel: 1.0 # [m] - possible_object_bbox: [1.5, 2.5] # [m x m] - ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h - stop_release_margin_time: 1.5 # [s] - temporal_stop_before_attention_area: false - absence_traffic_light: - creep_velocity: 1.388 # [m/s] - maximum_peeking_distance: 6.0 # [m] + denoise_kernel: 1.0 attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.5 + creep_during_peeking: + enable: false + creep_velocity: 0.8333 + peeking_offset: -0.5 + occlusion_required_clearance_distance: 55 + possible_object_bbox: [1.5, 2.5] + ignore_parked_vehicle_speed_threshold: 0.8333 + occlusion_detection_hold_time: 1.5 + temporal_stop_time_before_peeking: 0.1 + temporal_stop_before_attention_area: false + creep_velocity_without_traffic_light: 1.388 static_occlusion_with_traffic_light_timeout: 0.5 debug: ttc: [0] enable_rtc: - intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + intersection: false intersection_to_occlusion: false merge_from_private: - stop_line_margin: 3.0 + stopline_margin: 3.0 stop_duration_sec: 1.0 stop_distance_threshold: 1.0 From c991d2af6fd95776157b52b88939b92a0517eb6e Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 4 Dec 2023 11:50:20 +0900 Subject: [PATCH 16/21] chore(obstacle_cruise)!: remove unused params (#716) chore!: remove unused params Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 3 --- 1 file changed, 3 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 4c9f84d5eb..90e897fda3 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 @@ -70,9 +70,6 @@ behavior_determination: decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking - goal_extension_length: 5.0 # extension length for collision check around the goal - goal_extension_interval: 1.0 # extension interval for collision check around the goal - prediction_resampling_time_interval: 0.1 prediction_resampling_time_horizon: 10.0 From 6d6af420cb334cbd2a2e59dc78d19eb77fb2609a Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 5 Dec 2023 14:37:27 +0900 Subject: [PATCH 17/21] refactor(multi_object_tracker): add multi_object_tracker node param (#718) * add multi_object_tracker node param Signed-off-by: yoshiri * add additional node parameters for future update * style(pre-commit): autofix * fix default value --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../multi_object_tracker_node.param.yaml | 18 ++++++++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 22 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml new file mode 100644 index 0000000000..ae1e9d31e6 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + # default tracker models for each class + car_tracker: "multi_vehicle_tracker" + truck_tracker: "multi_vehicle_tracker" + bus_tracker: "multi_vehicle_tracker" + trailer_tracker: "multi_vehicle_tracker" + pedestrian_tracker: "pedestrian_and_bicycle_tracker" + bicycle_tracker: "pedestrian_and_bicycle_tracker" + motorcycle_tracker: "pedestrian_and_bicycle_tracker" + + # default tracker node parameters + publish_rate: 10.0 + world_frame_id: map + enable_delay_compensation: true + pass_through_unknown_objects: false + publish_untracked_objects: false + debug_flag: false diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index ece7bee52c..49156fba51 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -81,6 +81,10 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> + Date: Tue, 5 Dec 2023 15:13:47 +0900 Subject: [PATCH 18/21] refactor(start_planner): refactor debug and safety check logic (#719) refactor(start_planner): refactor debug parameters This commit removes the `verbose` parameter under `start_planner` and introduces a new `debug` section. The newly added `debug` section includes a `print_debug_info` parameter, set to false by default. This change provides a more structured way to handle debugging configurations for the start planner. Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 8 +++++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d339ed99ff..06fe74e3b7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -119,7 +119,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 1.0 - acceleration: 1.0 + min_acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 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 6f85128264..420d9b5fcc 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 @@ -2,8 +2,6 @@ ros__parameters: start_planner: - verbose: false - th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 @@ -85,7 +83,7 @@ # EgoPredictedPath ego_predicted_path: min_velocity: 0.0 - acceleration: 1.0 + min_acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 @@ -140,3 +138,7 @@ # temporary backward_path_length: 30.0 forward_path_length: 100.0 + + # debug + debug: + print_debug_info: false From 54f5d6e94557e0e83b245e5e5963eb57f7df589c Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Tue, 5 Dec 2023 18:21:38 +0900 Subject: [PATCH 19/21] feat(component_state_monitor): monitor traffic light recognition output (#720) Signed-off-by: Tomohito Ando --- .../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 5672d13dcb..f8c6f9685f 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -89,6 +89,19 @@ error_rate: 1.0 timeout: 1.0 +- module: perception + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: traffic_light_recognition_traffic_signals + topic: /perception/traffic_light_recognition/traffic_signals + topic_type: autoware_perception_msgs/msg/TrafficSignalArray + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: planning mode: [online, logging_simulation, planning_simulation] type: autonomous From 42ea6834b876a68b6b60dd0c10b29ae79759ee81 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 5 Dec 2023 18:47:45 +0900 Subject: [PATCH 20/21] feat(rviz): fix perception debug topics in Rviz (#721) fix perception debug topics in Rviz Signed-off-by: Shunsuke Miura --- autoware_launch/rviz/autoware.rviz | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c30060659a..97dd22a13d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2485,13 +2485,13 @@ Visualization Manager: Perception: CameraLidarFusion(purple): true Centerpoint(red1): true - CenterpointROIFusion(red3): true - CenterpointValidator(red2): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true Detection(yellow): true DetectionByTracker(cyan): true PointPainting(light_green1): true - PointPaintingROIFusion(light_green3): true - PointPaintingValidator(light_green2): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true Prediction(light_blue): true RadarFarObjects(white): true Tracking(green): true @@ -2954,7 +2954,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 255; 82; 82 - Name: CenterpointValidator(red2) + Name: CenterpointROIFusion(red2) Namespaces: {} PEDESTRIAN: @@ -2972,7 +2972,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/centerpoint/validation/objects + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 82; 82 @@ -3001,7 +3001,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 213; 0; 0 - Name: CenterpointROIFusion(red3) + Name: CenterpointValidator(red3) Namespaces: {} PEDESTRIAN: @@ -3095,7 +3095,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 118; 255; 3 - Name: PointPaintingValidator(light_green2) + Name: PointPaintingROIFusion(light_green2) Namespaces: {} PEDESTRIAN: @@ -3113,7 +3113,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/pointpainting/validation/objects + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects UNKNOWN: Alpha: 0.9990000128746033 Color: 118; 255; 3 @@ -3142,7 +3142,7 @@ Visualization Manager: MOTORCYCLE: Alpha: 0.9990000128746033 Color: 100; 221; 23 - Name: PointPaintingROIFusion(light_green3) + Name: PointPaintingValidator(light_green3) Namespaces: {} PEDESTRIAN: From 0960260213a189e895f1c13d84c02603acf429f2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 5 Dec 2023 23:46:47 +0900 Subject: [PATCH 21/21] feat: add polygon_generation_method in dynamic_avoidance (#715) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 24bc144c40..854c29aa89 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 @@ -47,6 +47,7 @@ max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. drivable_area_generation: + polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m]