From 98da1a0eaa814b11a0da6b05d12c3e740482539b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 27 Sep 2023 07:53:38 +0900 Subject: [PATCH 01/24] feat(autoware_launch): add max_obstacle_vel in dynamic_avoidance (#595) 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 a05bdda099..bf9c815405 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 @@ -16,6 +16,7 @@ motorcycle: true pedestrian: false + max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] successive_num_to_entry_dynamic_avoidance_condition: 5 From f9edba40b5f101d4304ee97920d5b4b1a43ad379 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 20:31:28 +0900 Subject: [PATCH 02/24] feat(goal_planner): extend goal search area (#592) feat(goal_planner): extend goal search are Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/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 e1108d56c9..10bb6453b4 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 @@ -14,12 +14,12 @@ lateral_weight: 40.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" - forward_goal_search_length: 20.0 + forward_goal_search_length: 40.0 backward_goal_search_length: 20.0 goal_search_interval: 2.0 longitudinal_margin: 3.0 - max_lateral_offset: 0.5 - lateral_offset_interval: 0.25 + max_lateral_offset: 1.0 + lateral_offset_interval: 0.5 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 From 3d050e3cc65de2f01b9c61ffbf6cb4324350ff73 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 21:09:17 +0900 Subject: [PATCH 03/24] feat(goal_planner): change minimum_request_length 0.0 (#598) 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 10bb6453b4..a59786ccdd 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 @@ -41,7 +41,7 @@ # pull over pull_over: - minimum_request_length: 100.0 + minimum_request_length: 0.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 From 051da834e9aaf0fdec46175a9ddc09ba7637cced Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 22:27:19 +0900 Subject: [PATCH 04/24] feat(start_planner): enable divide_pull_out_path (#600) Signed-off-by: kosuke55 --- .../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 352a0bf350..45a214b7d3 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 @@ -21,7 +21,7 @@ maximum_curvature: 0.07 # geometric pull out enable_geometric_pull_out: true - divide_pull_out_path: false + divide_pull_out_path: true geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 lane_departure_margin: 0.2 From 6b6f00622e67a23886672850119b5a51dd502554 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 22:27:36 +0900 Subject: [PATCH 05/24] feat(start_planner): change th_distance_to_middle_of_the_road 0.5 (#599) Signed-off-by: kosuke55 --- .../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 45a214b7d3..5487b0fde9 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 @@ -7,7 +7,7 @@ collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 - th_distance_to_middle_of_the_road: 0.1 + th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true From 557b4ccac99b913cda971844fb1736e0465657b5 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 28 Sep 2023 09:14:37 +0900 Subject: [PATCH 06/24] feat(goal_planner): prioritize goals before objects to avoid (#594) * feat(goal_planner): extend goal search are Signed-off-by: kosuke55 * feat(goal_planner): prioritize goals before objects to avoid Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.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/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 a59786ccdd..f52c36179b 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 @@ -12,7 +12,7 @@ goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" minimum_weighted_distance: lateral_weight: 40.0 - path_priority: "efficient_path" # "efficient_path" or "close_goal" + prioritize_goals_before_objects: true parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 40.0 backward_goal_search_length: 20.0 @@ -47,6 +47,8 @@ decide_path_distance: 10.0 maximum_deceleration: 1.0 maximum_jerk: 1.0 + path_priority: "efficient_path" # "efficient_path" or "close_goal" + efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking) # shift parking shift_parking: From 40281243c5ebb012ed9f261ae77a1982c0f72ad4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 28 Sep 2023 13:24:05 +0900 Subject: [PATCH 07/24] feat(intersection): use planned velocity from upstream modules (#597) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 a932254140..4042adeb36 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 @@ -34,6 +34,8 @@ 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: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity occlusion: enable: false From 206d439e074eda2c9c0faedef84e3bbfa55fa93d Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Thu, 28 Sep 2023 17:48:52 +0900 Subject: [PATCH 08/24] refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to match with the one in universe (#596) Modified ndt_scan_matcher.param.yaml to match with the one in universe Signed-off-by: TaikiYamada4 --- .../config/localization/ndt_scan_matcher.param.yaml | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 4a22059bda..718bc6ca3b 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -9,6 +9,9 @@ # NDT reference frame ndt_base_frame: "ndt_base_link" + # map frame + map_frame: "map" + # Subscriber queue size input_sensor_points_queue_size: 1 @@ -53,7 +56,7 @@ num_threads: 4 # The covariance of output pose - # Do note that this covariance matrix is empirically derived + # Note that this covariance matrix is empirically derived output_pose_covariance: [ 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -86,5 +89,5 @@ # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 - # The execution time which means probably NDT cannot matches scans properly - critical_upper_bound_exe_time_ms: 100 # [ms] + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100 From 901a04495f77488f0fa630e621dbd95b36e3ebbe Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Sun, 1 Oct 2023 17:07:18 +0300 Subject: [PATCH 09/24] feat(autoware_launch): add predicted_path_checker package (#385) Signed-off-by: Berkay Karaman --- .../predicted_path_checker.param.yaml | 22 +++++++++++++++++++ .../tier4_control_component.launch.xml | 3 +++ 2 files changed, 25 insertions(+) create mode 100644 autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml diff --git a/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml new file mode 100644 index 0000000000..780d86b5e9 --- /dev/null +++ b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + # Node + update_rate: 10.0 + delay_time: 0.17 + max_deceleration: 1.5 + resample_interval: 0.5 + stop_margin: 0.5 # [m] + ego_nearest_dist_threshold: 3.0 # [m] + ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg] + min_trajectory_check_length: 1.5 # [m] + trajectory_check_time: 3.0 + distinct_point_distance_threshold: 0.3 + distinct_point_yaw_threshold: 5.0 # [deg] + filtering_distance_threshold: 1.5 # [m] + use_object_prediction: true + + collision_checker_params: + width_margin: 0.2 + chattering_threshold: 0.2 + z_axis_filtering_buffer: 0.3 + enable_z_axis_obstacle_filtering: false diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 8b29135048..d15e050d7a 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -5,6 +5,7 @@ + @@ -42,5 +43,7 @@ + + From da1cfda260d9f488ce617b916f687e42400b0a9e Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 2 Oct 2023 10:55:18 +0900 Subject: [PATCH 10/24] feat(lane_change): expand target lanes for object filtering (#601) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 1accb1f709..1be71cae53 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 @@ -38,6 +38,11 @@ longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + # lane expansion for object filtering + lane_expansion: + left_offset: 0.0 # [m] + right_offset: 0.0 # [m] + # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0] From c1e98dde3f7d6b0c89b29c97376c83cb349a73e9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 2 Oct 2023 12:06:39 +0900 Subject: [PATCH 11/24] feat(behavior_path_planner): update rss param (#604) update param Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 10 +++++----- .../start_planner/start_planner.param.yaml | 8 ++++---- 2 files changed, 9 insertions(+), 9 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 f52c36179b..0f1b441bed 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 @@ -118,7 +118,7 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: - min_velocity: 0.0 + min_velocity: 1.0 acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 @@ -164,11 +164,11 @@ check_all_predicted_path: true publish_debug_marker: false rss_params: - rear_vehicle_reaction_time: 1.0 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 1.0 - longitudinal_velocity_delta_time: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 # temporary 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 5487b0fde9..1424b58d22 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 @@ -127,11 +127,11 @@ check_all_predicted_path: true publish_debug_marker: false rss_params: - rear_vehicle_reaction_time: 1.0 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 1.0 - longitudinal_velocity_delta_time: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon hysteresis_factor_expand_rate: 1.0 # temporary From 3fa16a194159cfca6664b293d4e6bb73a86b6c7a Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 3 Oct 2023 06:57:28 +0900 Subject: [PATCH 12/24] feat(localization_error_monitor): update parameter (#614) Signed-off-by: kminoda --- .../config/localization/localization_error_monitor.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml index 2aa28014ea..def5c80164 100644 --- a/autoware_launch/config/localization/localization_error_monitor.param.yaml +++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: scale: 3.0 - error_ellipse_size: 1.0 - warn_ellipse_size: 0.8 + error_ellipse_size: 1.5 + warn_ellipse_size: 1.2 error_ellipse_size_lateral_direction: 0.3 warn_ellipse_size_lateral_direction: 0.25 From dee409f7716b324a29e43dc9a3bf6f14fa5968af Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 3 Oct 2023 10:55:17 +0900 Subject: [PATCH 13/24] fix(autoware_launch): improve stop decision in out_of_lane (#615) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/out_of_lane.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index 510dc86ef6..c74c5b3d87 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -24,8 +24,7 @@ action: # action to insert in the path if an object causes a conflict at an overlap skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed - strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego - # if false, ego stops just before entering a lane but may then be overlapping another lane. + precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap From b951b5190232b3bd36b982a355dbbe6041e0b0f3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 3 Oct 2023 12:11:39 +0900 Subject: [PATCH 14/24] feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk (#610) * feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka * revert a parg of config Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/crosswalk.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 0c12624f3b..4b81a1e687 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 @@ -54,7 +54,9 @@ ## param for yielding disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal - timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order + timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s] timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not # param for target object filtering From cc47affb1346db5e638ae27736897f3fa03a264f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 09:49:55 +0900 Subject: [PATCH 15/24] feat(intersection): aggressively peek into attention area if traffic light does not exist (#611) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 4042adeb36..5e74e837bf 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 @@ -54,6 +54,9 @@ 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] enable_rtc: intersection: true # 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 From c1edaf9d71ffa9a653ba7fce376a93f8f5f64276 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 4 Oct 2023 15:14:06 +0900 Subject: [PATCH 16/24] perf(ndt_scan_matcher): changed default `initial_estimate_particles_num` to 200 (#618) Changed initial_estimate_particles_num to 200 Signed-off-by: Shintaro Sakoda --- autoware_launch/config/localization/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 718bc6ca3b..cf41a4cf55 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -41,7 +41,7 @@ converged_param_nearest_voxel_transformation_likelihood: 2.3 # The number of particles to estimate initial pose - initial_estimate_particles_num: 100 + initial_estimate_particles_num: 200 # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] lidar_topic_timeout_sec: 1.0 From 5cba1dabfad5dbd6bdbbe446f90cd96db61f9da9 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Oct 2023 21:17:04 +0900 Subject: [PATCH 17/24] feat(intersection): ignore occlusion beyond high curvature point (#619) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 5e74e837bf..ccd3612203 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 @@ -57,6 +57,8 @@ absence_traffic_light: creep_velocity: 1.388 # [m/s] maximum_peeking_distance: 6.0 # [m] + attention_lane_crop_curvature_threshold: 0.25 + attention_lane_curvature_calculation_ds: 0.5 enable_rtc: intersection: true # 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 From 811307d605eb2983d4ab669e9ed3cb24a862ee80 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 5 Oct 2023 11:32:30 +0900 Subject: [PATCH 18/24] fix: add param file for obstacle pointcloud based validator (#606) * fix: add param file for obstacle pointcloud based validator Signed-off-by: badai-nguyen * fix: tier4_perception launch Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../obstacle_pointcloud_based_validator.param.yaml | 13 +++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 17 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml new file mode 100644 index 0000000000..22999b411f --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -0,0 +1,13 @@ +/**: + ros__parameters: + min_points_num: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [10, 10, 10, 10, 10,10, 10, 10] + + max_points_num: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [10, 10, 10, 10, 10,10, 10, 10] + + min_points_and_distance_ratio: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 342396934c..1ec8f2c22f 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -48,6 +48,10 @@ name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml" /> + Date: Thu, 5 Oct 2023 13:16:30 +0900 Subject: [PATCH 19/24] refactor(avoidance): use safety check parameter struct (#617) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 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 c91ec0e88b..5f80c76111 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 @@ -139,12 +139,16 @@ check_other_object: true # [-] # collision check parameters check_all_predicted_path: false # [-] - time_resolution: 0.5 # [s] - time_horizon_for_front_object: 3.0 # [s] - time_horizon_for_rear_object: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] hysteresis_factor_safe_count: 10 # [-] + # predicted path parameters + min_velocity: 1.38 # [m/s] + max_velocity: 50.0 # [m/s] + time_resolution: 0.5 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] + delay_until_departure: 0.0 # [s] # rss parameters expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] From fd15eb88fe1759d90390b93a7a20a63a345c4393 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 6 Oct 2023 13:53:31 +0900 Subject: [PATCH 20/24] feat(intersection)!: disable the exception behavior in the private areas (#622) feat: add enabling param for the private areas Signed-off-by: Yuki Takagi --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 ccd3612203..e210d2fb21 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 @@ -19,6 +19,7 @@ # 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. collision_detection: state_transit_margin_time: 1.0 From cbe4ed8763f6c33dff67e91ebeb5bd4e6250f5b6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 6 Oct 2023 13:54:04 +0900 Subject: [PATCH 21/24] feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner param change (#621) * set obstacle type dependant params Signed-off-by: Daniel Sanchez * Set obstacle cruise planner as default to test changes Signed-off-by: Daniel Sanchez * Change back testing parameters to default Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index cb4d6a68c5..ddea1a9b56 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 @@ -179,10 +179,13 @@ slow_down: # parameters to calculate slow down velocity by linear interpolation - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + labels: + - "default" + default: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s] From 347b2939ffdc9dc00effe897c1a0eff6c16c74f1 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 6 Oct 2023 20:16:48 +0900 Subject: [PATCH 22/24] feat(lane_change): separate execution and cancel safety check param (#626) Signed-off-by: Zulfaqar Azmi --- .../lane_change/lane_change.param.yaml | 26 ++++++++++++------- 1 file changed, 17 insertions(+), 9 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 1be71cae53..a090a6d3a8 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 @@ -28,15 +28,23 @@ # safety check safety_check: - expected_front_deceleration: -1.0 - expected_rear_deceleration: -1.0 - expected_front_deceleration_for_abort: -1.0 - expected_rear_deceleration_for_abort: -2.0 - 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 + allow_loose_check_for_cancel: true + execution: + 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 + cancel: + 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 # lane expansion for object filtering lane_expansion: From 2c08bc6586a81f13d1e08da8d70cfc4b255864c6 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 6 Oct 2023 22:14:40 +0900 Subject: [PATCH 23/24] feat(intersection): yield initially on green light (#623) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 e210d2fb21..a303b78af9 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 @@ -37,6 +37,10 @@ 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 + yield_on_green_traffic_light: + distance_to_assigned_lanelet_start: 10.0 + duration: 3.0 + range: 50.0 # [m] occlusion: enable: false From 9d9eb334818b0eb8b42d4d0f8d676626f19da381 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 7 Oct 2023 17:20:43 +0900 Subject: [PATCH 24/24] feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (#625) * disable RTC Signed-off-by: kyoichi-sugahara * remove rtc auto mode manager Signed-off-by: kyoichi-sugahara * fix file name Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../scene_module_manager.param.yaml | 20 +++++++++---------- .../blind_spot.param.yaml | 2 +- .../crosswalk.param.yaml | 2 +- .../detection_area.param.yaml | 2 +- .../intersection.param.yaml | 4 ++-- .../no_stopping_area.param.yaml | 2 +- .../traffic_light.param.yaml | 2 +- .../rtc_replayer.param.yaml} | 0 .../tier4_planning_component.launch.xml | 3 --- 9 files changed, 17 insertions(+), 20 deletions(-) rename autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/{rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml => rtc_replayer/rtc_replayer.param.yaml} (100%) 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 ff4b486ef9..1fc83edd08 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 @@ -5,7 +5,7 @@ ros__parameters: external_request_lane_change_left: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -14,7 +14,7 @@ external_request_lane_change_right: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -23,7 +23,7 @@ lane_change_left: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -32,7 +32,7 @@ lane_change_right: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false @@ -41,7 +41,7 @@ start_planner: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -50,7 +50,7 @@ side_shift: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -59,7 +59,7 @@ goal_planner: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: true @@ -68,7 +68,7 @@ avoidance: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -77,7 +77,7 @@ avoidance_by_lc: enable_module: true - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false @@ -86,7 +86,7 @@ dynamic_avoidance: enable_module: false - enable_rtc: true + enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 8a57bfeabd..0950ece4ae 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -8,4 +8,4 @@ max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] - enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. 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 4b81a1e687..d99c70c5f6 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 @@ -5,7 +5,7 @@ show_processing_time: false # [-] whether to show processing time # param for input data traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal - enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. # param for stop position stop_position: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml index 55b627cce7..ddd8b934d2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml @@ -8,4 +8,4 @@ state_clear_time: 2.0 hold_stop_margin_distance: 0.0 distance_to_judge_over_stop_line: 0.5 - enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. + enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. 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 a303b78af9..4b8f15ab27 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 @@ -66,8 +66,8 @@ attention_lane_curvature_calculation_ds: 0.5 enable_rtc: - intersection: true # 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_to_occlusion: true + 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_to_occlusion: false merge_from_private: stop_line_margin: 3.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml index f550188d4f..c84848f8cc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml @@ -8,4 +8,4 @@ stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area detection_area_length: 200.0 # [m] used to create detection area polygon stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m) - enable_rtc: true # 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 + enable_rtc: 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index e8e0357daa..a837ae1b46 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -5,4 +5,4 @@ tl_state_timeout: 1.0 yellow_lamp_period: 2.75 enable_pass_judge: true - enable_rtc: true # 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 + enable_rtc: 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..a1cb2b79f5 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -25,9 +25,6 @@ - - -