From 216f79f149128144a58377df3b96cbd38e2ef13d Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Thu, 18 Jul 2024 11:19:01 +0900 Subject: [PATCH 1/2] make same crosswalk parameter as v3.0.0 --- .../crosswalk.param.yaml | 28 +++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) 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 88d730f654..f0460c4fbf 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 @@ -16,7 +16,7 @@ # For the case where the crosswalk width is very wide far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). # For the case where the stop position is determined according to the object position. - stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin + stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false". slow_down: @@ -30,31 +30,31 @@ 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. - 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] + required_clearance: 10.0 # [m] clearance to be secured between the ego and the ahead vehicle + min_acc: -1.0 # min acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles pass_judge: ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) - ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) - ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) + ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point 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: -2.8 # min acceleration [m/ss] - min_jerk: -5.0 # min jerk [m/sss] - max_jerk: 5.0 # max jerk [m/sss] + min_acc: -1.0 # min acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] - stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) + stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph) min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) ## param for yielding - disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal + disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed. distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order timeout_set_for_no_intention_to_walk: [3.0, 0.0] # [s] @@ -62,7 +62,7 @@ # param for target object filtering object_filtering: - crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk + crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle target_object: unknown: true # [-] whether to look and stop by UNKNOWN objects @@ -72,7 +72,7 @@ # param for occlusions occlusion: - enable: true # if true, ego will slowdown around crosswalks that are occluded + enable: false # if true, ego will slowdown around crosswalks that are occluded occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown From 047485cd72b9e6a612e8b8de55d1d3bb4c01930a Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Thu, 18 Jul 2024 11:40:57 +0900 Subject: [PATCH 2/2] make same lane change parameter as v3.0.0 --- .../lane_change/lane_change.param.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) 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 e9bbb65d3f..3dbc3b01dd 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 @@ -49,12 +49,12 @@ longitudinal_velocity_delta_time: 0.3 stuck: expected_front_deceleration: -1.0 - expected_rear_deceleration: -1.0 - rear_vehicle_reaction_time: 2.0 - rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 2.0 - longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 + 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 # lane expansion for object filtering lane_expansion: