diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index 3910360424..ffd259e5e5 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -10,4 +10,3 @@ thresholds: max_distance_deviation: 1.0 - min_velocity_for_checking: 1.0 # m/s diff --git a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml index 3de702aa00..6556656cc8 100644 --- a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml +++ b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml @@ -1,4 +1,4 @@ /**: ros__parameters: update_rate: 10.0 - initial_selector_mode: "remote" # ["local", "remote"] + initial_selector_mode: "local" # ["local", "remote"] 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 fd83953182..688e650de1 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -71,9 +71,8 @@ # slope compensation # pitch - use_trajectory_for_pitch_calculation: true lpf_pitch_gain: 0.95 - slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive + slope_source: "trajectory_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1 diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 096db82bdd..6df24435cc 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -1,10 +1,12 @@ /**: ros__parameters: - show_debug_info: false - enable_yaw_bias_estimation: false - predict_frequency: 50.0 - tf_rate: 50.0 - extend_state_step: 50 + node: + show_debug_info: false + enable_yaw_bias_estimation: false + predict_frequency: 50.0 + tf_rate: 50.0 + publish_tf: true + extend_state_step: 50 pose_measurement: # for Pose measurement @@ -40,7 +42,5 @@ misc: # for velocity measurement limitation (Set 0.0 if you want to ignore) - threshold_observable_velocity_mps: 0.0 # [m/s] + threshold_observable_velocity_mps: 0.5 # [m/s] pose_frame_id: "map" - # for velocity measurement limitation (Set 0.0 if you want to ignore) - threshold_observable_velocity_mps: 0.5 # [m/s] diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml deleted file mode 100644 index 4c29059581..0000000000 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ /dev/null @@ -1,84 +0,0 @@ -/**: - ros__parameters: - # Use dynamic map loading - use_dynamic_map_loading: true - - # Vehicle reference frame - base_frame: "base_link" - - # Subscriber queue size - input_sensor_points_queue_size: 1 - - # The maximum difference between two consecutive - # transformations in order to consider convergence - trans_epsilon: 0.01 - - # The newton line search maximum step length - step_size: 0.1 - - # The ND voxel grid resolution - resolution: 2.0 - - # The number of iterations required to calculate alignment - max_iterations: 30 - - # Converged param type - # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD - converged_param_type: 1 - - # If converged_param_type is 0 - # Threshold for deciding whether to trust the estimation result - converged_param_transform_probability: 3.0 - - # If converged_param_type is 1 - # Threshold for deciding whether to trust the estimation result - converged_param_nearest_voxel_transformation_likelihood: 2.3 - - # The number of particles to estimate initial pose - initial_estimate_particles_num: 100 - - # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] - initial_pose_timeout_sec: 1.0 - - # Tolerance of distance difference between two initial poses used for linear interpolation. [m] - initial_pose_distance_tolerance_m: 10.0 - - # neighborhood search method - # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 - neighborhood_search_method: 0 - - # Number of threads used for parallel computing - num_threads: 4 - - # The covariance of output pose - # Do note that this covariance matrix is empirically derived - output_pose_covariance: - [ - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, - ] - - # Regularization switch - regularization_enabled: false - - # Regularization scale factor - regularization_scale_factor: 0.01 - - # Dynamic map loading distance - dynamic_map_loading_update_distance: 20.0 - - # Dynamic map loading loading radius - dynamic_map_loading_map_radius: 150.0 - - # Radius of input LiDAR range (used for diagnostics of dynamic map loading) - lidar_radius: 100.0 - - # A flag for using scan matching score based on de-grounded LiDAR scan - estimate_scores_for_degrounded_scan: false - - # If lidar_point.z - base_link.z <= this threshold , the point will be removed - z_margin_for_ground_removal: 0.8 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index b99612ab8f..26b027f007 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -3,7 +3,7 @@ tolerance: 0.7 voxel_leaf_size: 0.3 min_points_number_per_voxel: 1 - min_cluster_size: 3 + min_cluster_size: 10 max_cluster_size: 3000 use_height: false input_frame: "base_link" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml new file mode 100644 index 0000000000..0777ddb92b --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_x2.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + + # 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" + trt_precision: fp16 + post_process_params: + # 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 + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 5b9ad199fa..62b3074c15 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -2,13 +2,13 @@ ros__parameters: # voxel size for downsample filter - down_sample_voxel_size: 0.05 + down_sample_voxel_size: 0.1 # distance threshold for compare compare distance_threshold: 0.5 # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis - downsize_ratio_z_axis: 0.3 + downsize_ratio_z_axis: 0.6 # publish voxelized map pointcloud for debug publish_debug_pcd: False 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 9743a9ce59..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 @@ -56,7 +56,7 @@ min_iou_matrix: # If value is negative, it will be ignored. #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [0.0, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 689ada5e47..ec966ecc45 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - additional_lidars: ["front_lower"] + additional_lidars: [] ransac_input_topics: [] use_single_frame_filter: False use_time_series_filter: True @@ -8,11 +8,11 @@ common_crop_box_filter: parameters: min_x: -70.0 - max_x: 100.0 + max_x: 120.0 min_y: -75.0 max_y: 75.0 - max_z: 3.2 - min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + margin_max_z: 3.2 + margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False common_ground_filter: @@ -20,10 +20,10 @@ parameters: global_slope_max_angle_deg: 10.0 local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode - split_points_distance_tolerance: 0.15 + split_points_distance_tolerance: 0.2 use_virtual_ground_point: True split_height_distance: 0.2 - non_ground_height_threshold: 0.12 + non_ground_height_threshold: 0.20 grid_size_m: 0.2 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 5 @@ -44,12 +44,12 @@ front_upper_crop_box_filter: parameters: - min_x: 5.8 + min_x: -50.0 max_x: 100.0 min_y: -50.0 max_y: 50.0 - max_z: 3.2 # recommended 2.5 for non elevation_grid_mode - min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + margin_max_z: 3.2 # recommended 2.5 for non elevation_grid_mode + margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False front_upper_ground_filter: @@ -58,7 +58,7 @@ global_slope_max_angle_deg: 10.0 local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode split_points_distance_tolerance: 0.20 # recommended 0.045 for non elevation_grid_mode - split_height_distance: 0.15 # recommended 0.15 for non elevation_grid_mode + split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode use_virtual_ground_point: False non_ground_height_threshold: 0.1 grid_size_m: 0.1 @@ -74,12 +74,12 @@ front_lower_crop_box_filter: parameters: - min_x: 5.8 + min_x: -50.0 max_x: 100.0 min_y: -50.0 max_y: 50.0 - max_z: 3.2 # recommended 2.5 for non elevation_grid_mode - min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + margin_max_z: 3.2 # recommended 2.5 for non elevation_grid_mode + margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False front_lower_ground_filter: @@ -87,46 +87,16 @@ parameters: global_slope_max_angle_deg: 10.0 local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode - split_points_distance_tolerance: 0.10 # recommended 0.1 for non elevation_grid_mode - split_height_distance: 0.05 # recommended 0.05 for non elevation_grid_mode - use_virtual_ground_point: true + split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode + split_height_distance: 0.2 # recommended 0.05 for non elevation_grid_mode + use_virtual_ground_point: False non_ground_height_threshold: 0.1 grid_size_m: 0.1 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 3.2 - 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 - - left_upper_crop_box_filter: - parameters: - min_x: 5.8 - max_x: 40.0 - min_y: -10.0 - max_y: 10.0 - max_z: 1. # recommended 2.5 for non elevation_grid_mode - min_z: -1.0 # recommended 0.0 for non elevation_grid_mode - negative: False - - left_upper_ground_filter: - plugin: "ground_segmentation::ScanGroundFilterComponent" - parameters: - global_slope_max_angle_deg: 6.0 - local_slope_max_angle_deg: 6.0 # recommended 30.0 for non elevation_grid_mode - split_points_distance_tolerance: 0.20 # recommended 0.045 for non elevation_grid_mode - split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode - use_virtual_ground_point: False - non_ground_height_threshold: 0.05 - grid_size_m: 0.2 - grid_mode_switch_radius: 10.0 - gnd_grid_buffer_size: 3 - detection_range_z_max: 3.2 - elevation_grid_mode: true - use_recheck_ground_cluster: true + elevation_grid_mode: false + use_recheck_ground_cluster: false use_lowest_point: true low_priority_region_x: -20.0 center_pcl_shift: 0.0 diff --git a/autoware_launch/config/planning/preset/x2_preset.yaml b/autoware_launch/config/planning/preset/x2_preset.yaml index 21378f9d97..12c1bcadf5 100644 --- a/autoware_launch/config/planning/preset/x2_preset.yaml +++ b/autoware_launch/config/planning/preset/x2_preset.yaml @@ -1,14 +1,17 @@ launch: # behavior path modules - arg: - name: launch_avoidance_module + name: launch_static_obstacle_avoidance default: "true" - arg: name: launch_avoidance_by_lane_change_module default: "false" - arg: - name: launch_dynamic_avoidance_module + name: launch_dynamic_obstacle_avoidance default: "false" + - arg: + name: launch_sampling_planner_module + default: "false" # Warning, experimental module, use only in simulations - arg: name: launch_lane_change_right_module default: "true" @@ -71,9 +74,6 @@ launch: - 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" @@ -87,21 +87,31 @@ launch: - arg: name: motion_path_planner_type - default: obstacle_avoidance_planner - # option: obstacle_avoidance_planner + default: path_optimizer + # option: path_optimizer # path_sampler # none + # motion velocity planner modules + - arg: + name: launch_dynamic_obstacle_stop_module + default: "false" + - arg: + name: launch_out_of_lane_module + default: "true" + - arg: + name: launch_obstacle_velocity_limiter_module + default: "true" + - arg: name: motion_stop_planner_type - default: obstacle_cruise_planner_with_pseudo_occlusion + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner - # obstacle_cruise_planner_with_pseudo_occlusion # none - arg: - name: motion_velocity_smoother_type + name: velocity_smoother_type default: JerkFiltered # option: JerkFiltered # L2 diff --git a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml index 232610713f..329714e3d3 100644 --- a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml @@ -17,8 +17,8 @@ kp: 0.3 backward: - start_jerk: -0.3 - min_jerk_mild_stop: -0.5 + start_jerk: -0.1 + min_jerk_mild_stop: -0.3 min_jerk: -1.5 min_acc_mild_stop: -1.0 min_acc: -2.5 diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 857c40cdf2..9f1c261562 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -6,12 +6,12 @@ normal: min_acc: -1.0 # min deceleration [m/ss] max_acc: 1.0 # max acceleration [m/ss] - min_jerk: -0.6 # min jerk [m/sss] + min_jerk: -0.3 # min jerk [m/sss] max_jerk: 0.6 # max jerk [m/sss] # constraints to be observed limit: - min_acc: -6.0 # min deceleration limit [m/ss] + min_acc: -2.5 # min deceleration limit [m/ss] max_acc: 1.0 # max acceleration limit [m/ss] - min_jerk: -20.0 # min jerk limit [m/sss] - max_jerk: 20.0 # max jerk limit [m/sss] + min_jerk: -1.5 # min jerk limit [m/sss] + max_jerk: 1.5 # max jerk limit [m/sss] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 24e88c8ed6..7e03b1c45f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -23,41 +23,41 @@ th_moving_time: 2.0 # [s] longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.3 # [m] + soft_margin: 0.2 # [m] hard_margin: 0.2 # [m] hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER - envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER + envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER truck: th_moving_speed: 1.0 th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 + soft_margin: 0.2 hard_margin: 0.2 hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 + envelope_buffer_margin: 0.1 bus: th_moving_speed: 1.0 th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 + soft_margin: 0.2 hard_margin: 0.2 hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 + envelope_buffer_margin: 0.1 trailer: th_moving_speed: 1.0 th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 + soft_margin: 0.2 hard_margin: 0.2 hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 + envelope_buffer_margin: 0.1 unknown: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -214,7 +214,7 @@ longitudinal: min_prepare_time: 1.0 # [s] max_prepare_time: 2.0 # [s] - min_prepare_distance: 1.0 # [m] + min_prepare_distance: 4.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER @@ -253,7 +253,7 @@ # but there is a possibility that the vehicle can't stop in front of the vehicle. # "reliable": insert stop or slow down point with ignoring decel/jerk constraints. # make it possible to increase chance to avoid but uncomfortable deceleration maybe happen. - deceleration: "best_effort" # [-] + deceleration: "reliable" # [-] # policy for avoidance lateral margin. select "best_effort" or "reliable". # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal # margin to avoid. @@ -261,7 +261,7 @@ # with expected lateral margin. lateral_margin: "best_effort" # [-] # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. - use_shorten_margin_immediately: true # [-] + use_shorten_margin_immediately: false # [-] # -------------------------------------- # FOLLOWING PARAMETERS ARE FOR DEVELOPER @@ -270,10 +270,10 @@ constraints: # lateral constraints lateral: - velocity: [1.39, 4.17, 11.1] # [m/s] + velocity: [2.78, 8.33, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] + max_jerk_values: [0.5, 1.0, 1.0] # [m/sss] # longitudinal constraints longitudinal: @@ -281,7 +281,7 @@ nominal_jerk: 0.5 # [m/sss] max_deceleration: -1.5 # [m/ss] max_jerk: 1.0 # [m/sss] - max_acceleration: 0.5 # [m/ss] + max_acceleration: 0.3 # [m/ss] min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] shift_line_pipeline: 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 deleted file mode 100644 index b131e60dd0..0000000000 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ /dev/null @@ -1,222 +0,0 @@ -# see AvoidanceParameters description in avoidance_module_data.hpp for description. -/**: - ros__parameters: - avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] - detection_area_right_expand_dist: 0.0 # [m] - detection_area_left_expand_dist: 1.0 # [m] - drivable_area_right_bound_offset: 0.0 # [m] - drivable_area_left_bound_offset: 0.0 # [m] - - # avoidance module common setting - enable_bound_clipping: false - enable_avoidance_over_same_direction: true - enable_avoidance_over_opposite_direction: true - enable_update_path_when_object_is_gone: false - enable_force_avoidance_for_stopped_vehicle: false - enable_safety_check: true - enable_yield_maneuver: true - enable_yield_maneuver_during_shifting: false - disable_path_update: false - - # drivable area setting - use_adjacent_lane: true - use_opposite_lane: true - use_intersection_areas: true - use_hatched_road_markings: true - - # for debug - publish_debug_marker: false - print_debug_info: false - - # avoidance is performed for the object type with true - target_object: - car: - enable: true # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] - lateral_margin: - soft_margin: 0.2 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] - max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.1 # [m] - safety_buffer_longitudinal: 0.0 # [m] - use_conservative_buffer_longitudinal: false # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. - truck: - enable: true - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 0.2 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.8 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: false - bus: - enable: true - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 0.2 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.1 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: false - trailer: - enable: true - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 0.2 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.1 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: false - unknown: - enable: false - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 1.0 # [m] - hard_margin: 0.7 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - safety_buffer_lateral: 0.7 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: false - bicycle: - enable: false - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 0.0 # [m] - hard_margin: 1.0 # [m] - hard_margin_for_parked_vehicle: 1.0 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: false - motorcycle: - enable: false - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 0.0 # [m] - hard_margin: 1.0 # [m] - hard_margin_for_parked_vehicle: 1.0 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: false - pedestrian: - enable: false - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 - lateral_margin: - soft_margin: 0.0 # [m] - hard_margin: 1.0 # [m] - hard_margin_for_parked_vehicle: 1.0 # [m] - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 - safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: false - lower_distance_for_polygon_expansion: 30.0 # [m] - upper_distance_for_polygon_expansion: 100.0 # [m] - - # For target object filtering - target_filtering: - # filtering moving objects - threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] - # detection range - object_ignore_distance_traffic_light: 30.0 # [m] - object_ignore_distance_crosswalk_forward: 30.0 # [m] - object_ignore_distance_crosswalk_backward: 30.0 # [m] - object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 10.0 # [m] - object_check_goal_distance: 0.0 # [m] - # filtering parking objects - threshold_distance_object_is_on_center: 0.5 # [m] - object_check_shiftable_ratio: 0.6 # [-] - object_check_min_road_shoulder_width: 0.5 # [m] - # lost object compensation - object_last_seen_threshold: 2.0 - - # For safety check - safety_check: - safety_check_backward_distance: 100.0 # [m] - safety_check_time_horizon: 10.0 # [s] - safety_check_idling_time: 1.5 # [s] - safety_check_accel_for_rss: 2.5 # [m/ss] - safety_check_hysteresis_factor: 2.0 # [-] - - # For avoidance maneuver - avoidance: - # avoidance lateral parameters - lateral: - lateral_collision_margin: 1.0 # [m] - lateral_execution_threshold: 0.499 # [m] - lateral_small_shift_threshold: 0.101 # [m] - lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] - hard_road_shoulder_margin: 0.3 # [m] - max_right_shift_length: 5.0 - max_left_shift_length: 5.0 - max_deviation_from_lane: 0.5 # [m] - # approve the next shift line after reaching this percentage of the current shift line length. - # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. - # this feature can be disabled by setting this parameter to 0.0. - ratio_for_return_shift_approval: 0.5 # [-] - # avoidance distance parameters - longitudinal: - prepare_time: 2.0 # [s] - min_prepare_distance: 1.0 # [m] - min_avoidance_distance: 10.0 # [m] - min_nominal_avoidance_speed: 7.0 # [m/s] - min_sharp_avoidance_speed: 1.0 # [m/s] - - # For yield maneuver - yield: - yield_velocity: 2.78 # [m/s] - - # For stop maneuver - stop: - min_distance: 10.0 # [m] - max_distance: 20.0 # [m] - - constraints: - # vehicle slows down under longitudinal constraints - use_constraints_for_decel: false # [-] - - # lateral constraints - lateral: - nominal_lateral_jerk: 0.2 # [m/s3] - max_lateral_jerk: 1.0 # [m/s3] - - # longitudinal constraints - longitudinal: - nominal_deceleration: -1.0 # [m/ss] - nominal_jerk: 0.5 # [m/sss] - max_deceleration: -2.0 # [m/ss] - max_jerk: 1.0 - # For prevention of large acceleration while avoidance - min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] - max_avoidance_acceleration: 0.5 # [m/ss] - - shift_line_pipeline: - trim: - quantize_filter_threshold: 0.2 - same_grad_filter_1_threshold: 0.1 - same_grad_filter_2_threshold: 0.2 - same_grad_filter_3_threshold: 0.5 - sharp_shift_filter_threshold: 0.2 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 7226876c75..46082e2659 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 @@ -18,11 +18,6 @@ extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase 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 - extra_footprint_offset: - front: 0.5 # [m] extra length to add to the front of the ego footprint - rear: 0.5 # [m] extra length to add to the rear of the ego footprint - left: 0.5 # [m] extra length to add to the left of the ego footprint - right: 0.5 # [m] extra length to add to the rear of the ego footprint dynamic_objects: avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: @@ -34,22 +29,9 @@ 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. - expansion: - method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. - # 'lanelet': add lanelets overlapped by the ego footprints - # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area - max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) - extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - road_border - curbstone - drivable_area distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid - compensate: - enable: false # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction - extra_distance: 3.0 # [m] extra distance to add to the compensation - replan_checker: - enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly - # not compatible with dynamic_objects.avoid - max_deviation: 1.0 # [m] full replan is only done if the path changes by more than this distance 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 2605bfd563..7adb3fe776 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 @@ -46,14 +46,6 @@ lateral_distance_max_threshold: 0.75 longitudinal_distance_min_threshold: 2.0 longitudinal_velocity_delta_time: 0.3 - stuck: - expected_front_deceleration: -1.0 - expected_rear_deceleration: -2.0 - rear_vehicle_reaction_time: 1.5 - rear_vehicle_safety_time_margin: 0.8 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 2.5 - longitudinal_velocity_delta_time: 0.6 stuck: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 @@ -68,11 +60,6 @@ left_offset: 1.0 # [m] right_offset: 1.0 # [m] - # lane expansion for object filtering - lane_expansion: - left_offset: 1.0 # [m] - right_offset: 1.0 # [m] - # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0] @@ -88,7 +75,7 @@ unknown: false bicycle: true motorcycle: true - pedestrian: false + pedestrian: true # collision check enable_collision_check_for_prepare_phase: @@ -111,11 +98,6 @@ velocity: 0.5 # [m/s] stop_time: 3.0 # [s] - # ego vehicle stuck detection - stuck_detection: - velocity: 0.5 # [m/s] - stop_time: 3.0 # [s] - # lane change cancel cancel: enable_on_prepare_phase: true 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 d54c1b210f..c62c866492 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 @@ -24,7 +24,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 4 + priority: 5 max_module_size: 1 lane_change_right: @@ -32,7 +32,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 4 + priority: 5 max_module_size: 1 start_planner: 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 073daba72b..9d7054487f 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 @@ -26,11 +26,12 @@ allow_check_shift_path_lane_departure_override: false shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 - deceleration_interval: 15.0 + maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation" lateral_jerk: 0.5 lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 + maximum_curvature: 0.07 # geometric pull out enable_geometric_pull_out: true geometric_collision_check_distance_from_end: 0.0 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 cb4e8acdbd..b31506918a 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 @@ -4,7 +4,7 @@ backward_path_length: 5.0 behavior_output_path_interval: 1.0 stop_line_extend_length: 5.0 - max_accel: -4.0 + max_accel: -2.8 max_jerk: -5.0 system_delay: 0.5 delay_response_time: 0.5 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 54ef4ff402..88d730f654 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 @@ -30,8 +30,8 @@ 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] threshold velocity whether other vehicles are assumed to be stuck or not. max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path. - stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path. - min_acc: -4.0 # min acceleration [m/ss] + required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle + min_acc: -2.8 # min acceleration [m/ss] min_jerk: -5.0 # min jerk [m/sss] max_jerk: 5.0 # max jerk [m/sss] @@ -47,7 +47,7 @@ no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. - min_acc: -4.0 # min acceleration [m/ss] + min_acc: -2.8 # min acceleration [m/ss] min_jerk: -5.0 # min jerk [m/sss] max_jerk: 5.0 # max jerk [m/sss] 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 08bed1714c..7820a5db31 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 @@ -9,7 +9,7 @@ default_stopline_margin: 3.0 stopline_overshoot_margin: 0.5 path_interpolation_ds: 0.1 - max_accel: -4.0 + max_accel: -2.8 max_jerk: -5.0 delay_response_time: 0.5 enable_pass_judge_before_default_stopline: false @@ -24,7 +24,7 @@ bicycle: false unknown: false turn_direction: - left: false + left: true right: true straight: true use_stuck_stopline: true @@ -75,17 +75,18 @@ 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 - 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: 1.38 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 8.0 object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 # [m/ss] + object_expected_deceleration: + car: 2.0 + bike: 5.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 + avoid_collision_by_acceleration: + object_time_margin_to_collision_point: 4.0 occlusion: enable: true @@ -105,11 +106,12 @@ occlusion_detection_hold_time: 1.5 temporal_stop_time_before_peeking: 0.1 temporal_stop_before_attention_area: false - absence_traffic_light: - creep_velocity: 1.388 # [m/s] - maximum_peeking_distance: -0.5 # [m] - attention_lane_crop_curvature_threshold: 0.25 - attention_lane_curvature_calculation_ds: 0.5 + creep_velocity_without_traffic_light: 1.388 + static_occlusion_with_traffic_light_timeout: 0.5 + + debug: + ttc: [0] + enable_rtc: intersection: 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 e5fdabef3a..c8905f66da 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 @@ -67,12 +67,6 @@ margin_behind: 0.5 # [m] ahead margin for detection area length margin_ahead: 1.0 # [m] behind margin for detection area length - # parameter to avoid sudden stopping - slow_down_limit: - 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. - # Only used when "detection_method" is set to Points # Points in this area are detected even if it is in the no obstacle segmentation area # The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml index 1f78eecb02..93cc644040 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml @@ -44,7 +44,7 @@ enable_optimization_validation: false common: - num_points: 50 # number of points for optimization [-] + num_points: 100 # number of points for optimization [-] delta_arc_length: 1.0 # delta arc length for optimization [m] kinematics: 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 57322fd487..70dfbaec9c 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 @@ -107,11 +107,6 @@ slow_down: max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2 - pseudo_occlusion: - enable_function: false # If true, the slow down function behave as pseudo_occlusion - max_obj_vel: 1.0 # Objects which is slow than this speed are focused by the pseudo_occlusion function - focus_intersections: [0] # Specify the polygon's ID of lanelet map. If a object is on this ID's area the function treat the object even if it's right-hand beside object. ID "0" is required to parse as ROS params. - successive_num_to_entry_slow_down_condition: 5 successive_num_to_exit_slow_down_condition: 5 @@ -198,9 +193,9 @@ max_ego_velocity: 5.56 static: min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 4.0 - max_ego_velocity: 8.0 + max_lat_margin: 0.7 + min_ego_velocity: 2.0 + max_ego_velocity: 5.56 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml deleted file mode 100644 index e01cd3c99d..0000000000 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml +++ /dev/null @@ -1,227 +0,0 @@ -/**: - ros__parameters: - common: - planning_algorithm: "pid_base" # currently supported algorithm is "pid_base" - - enable_debug_info: false - enable_calculation_time_info: false - - enable_slow_down_planning: true - - # longitudinal info - idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] - min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] - min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] - terminal_safe_distance_margin : 6.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] - hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] - hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] - - nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index - nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index - min_behavior_stop_margin: 6.0 # [m] - stop_on_curve: - enable_approaching: true - additional_safe_distance_margin: 2.0 # [m] - min_safe_distance_margin: 3.5 # [m] - suppress_sudden_obstacle_stop: true - - stop_obstacle_type: - unknown: false - car: false - truck: false - bus: false - trailer: false - motorcycle: false - bicycle: false - pedestrian: false - - cruise_obstacle_type: - inside: - unknown: false - car: false - truck: false - bus: false - trailer: false - motorcycle: false - bicycle: false - pedestrian: false - - outside: - unknown: false - car: false - truck: false - bus: false - trailer: false - motorcycle: false - bicycle: false - pedestrian: false - - slow_down_obstacle_type: - unknown: false - car: true - truck: true - bus: true - trailer: true - motorcycle: false - bicycle: false - pedestrian: false - - behavior_determination: - decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking - - prediction_resampling_time_interval: 0.1 - prediction_resampling_time_horizon: 10.0 - - stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle - - # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 4.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 4.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - - # if crossing vehicle is determined as target obstacles or not - crossing_obstacle: - obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] - obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop - - stop: - max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width - crossing_obstacle: - collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] - - cruise: - max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width - outside_obstacle: - obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 1.0 # time threshold to decide cut-in obstacle for cruise or stop [s] - max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego - - slow_down: - max_lat_margin: 1.5 # lateral margin between obstacle and trajectory band with ego's width - lat_hysteresis_margin: 0.2 - pseudo_occlusion: - enable_function: true # If true, the slow down function behave as pseudo_occlusion - max_obj_vel: 1.0 # Objects which is slow than this speed are focused by the pseudo_occlusion function - focus_intersections: [0, 452] # Specify the polygon's ID of lanelet map. If a object is on this ID's area the function treat the object even if it's right-hand beside object. ID "0" is required to parse as ROS params. - - successive_num_to_entry_slow_down_condition: 5 - successive_num_to_exit_slow_down_condition: 5 - - # consider the current ego pose (it is not the nearest pose on the reference trajectory) - # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" - # The both errors decrease with constant rates against the time. - consider_current_pose: - enable_to_consider_current_pose: true - time_to_convergence: 1.5 #[s] - - cruise: - pid_based_planner: - use_velocity_limit_based_planner: true - error_function_type: quadratic # choose from linear, quadratic - - velocity_limit_based_planner: - # PID gains to keep safe distance with the front vehicle - kp: 10.0 - ki: 0.0 - kd: 2.0 - - output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-] - vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-] - - enable_jerk_limit_to_output_acc: false - - disable_target_acceleration: true - - velocity_insertion_based_planner: - kp_acc: 6.0 - ki_acc: 0.0 - kd_acc: 2.0 - - kp_jerk: 20.0 - ki_jerk: 0.0 - kd_jerk: 0.0 - - output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-] - output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-] - - enable_jerk_limit_to_output_acc: true - - min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss] - min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s] - time_to_evaluate_rss: 0.0 - - lpf_normalized_error_cruise_dist_gain: 0.2 - - optimization_based_planner: - dense_resampling_time_interval: 0.2 - sparse_resampling_time_interval: 2.0 - dense_time_horizon: 5.0 - max_time_horizon: 25.0 - velocity_margin: 0.2 #[m/s] - - # Parameters for safe distance - t_dangerous: 0.5 - - # For initial Motion - replan_vel_deviation: 5.0 # velocity deviation to replan initial velocity [m/s] - engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) - engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. - stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] - - # Weights for optimization - max_s_weight: 100.0 - max_v_weight: 1.0 - over_s_safety_weight: 1000000.0 - over_s_ideal_weight: 50.0 - over_v_weight: 500000.0 - over_a_weight: 5000.0 - over_j_weight: 10000.0 - - slow_down: - # parameters to calculate slow down velocity by linear interpolation - labels: - - "default" - - "pedestrian" - default: - moving: - min_lat_margin: 0.7 - max_lat_margin: 1.5 - min_ego_velocity: 2.78 - max_ego_velocity: 9.72 - static: - min_lat_margin: 0.7 - max_lat_margin: 1.5 - min_ego_velocity: 2.78 - max_ego_velocity: 9.72 - pedestrian: - moving: - min_lat_margin: 0.5 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 4.0 - static: - min_lat_margin: 0.5 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 4.0 - 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] - - lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity - lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path - lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start - stop: - type_specified_params: - labels: # For the listed types, the node try to read the following type specified values - - "default" - - "unknown" - # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined. - # limit_min_acc: common_param.yaml/limit.min_acc - unknown: - limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred. - sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop". - sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop". - abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit. diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index 9e81adf3e3..a9b18001d7 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -50,19 +50,6 @@ 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 diff --git a/autoware_launch/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml b/autoware_launch/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml deleted file mode 100644 index 68273fd990..0000000000 --- a/autoware_launch/config/system/hazard_lights_selector/hazard_lights_selector.param.yaml +++ /dev/null @@ -1,3 +0,0 @@ -/**: - ros__parameters: - update_rate: 10 # hazard lights command publish rate [Hz] diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml index d3f0d41fd7..1ee2699a23 100644 --- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml +++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: update_rate: 30 - target_acceleration: -4.0 - target_jerk: -5.0 + target_acceleration: -2.5 + target_jerk: -1.5 diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml index f4fda15af6..2370259cbe 100644 --- a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml +++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml @@ -9,7 +9,7 @@ use_emergency_holding: false timeout_emergency_recovery: 5.0 use_parking_after_stopped: false - use_pull_over: true + use_pull_over: false use_comfortable_stop: true # setting whether to turn hazard lamp on for each situation diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index b96bfdcbc0..5cf27f274f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -23,7 +23,6 @@ - @@ -47,9 +46,6 @@ - - - @@ -136,11 +132,6 @@ - - - - - - - - - - - - diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index b6e2f8f18a..1b92977330 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 5d9ecebe1f..fe24e836b0 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -25,8 +25,7 @@ - - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index eee2bf2f0d..027837196d 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -15,10 +15,10 @@ - + + - @@ -29,10 +29,17 @@ - + - - + + + + + + + + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 12f9cab3be..fa33147824 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -75,8 +75,6 @@ - - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 366f1d8ef8..88712916b1 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -76,8 +76,6 @@ - - diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 96b17995c2..fc757b8156 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2215,7 +2215,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall Value: true - Class: rviz_default_plugins/MarkerArray - Enabled: false + Enabled: true Name: DebugMarker Namespaces: {} @@ -2226,7 +2226,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker Value: true - Enabled: true + Enabled: false Name: ObstacleCruise - Class: rviz_default_plugins/MarkerArray Enabled: false