From 6620515b627b62e13a83d97ebac6ce7659208eb8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 25 Oct 2023 10:38:42 +0900 Subject: [PATCH 01/18] feat(intersection): check path margin for overshoot vehicles on red light (#654) --- .../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 c49be22d0a..ea5c5736ca 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 @@ -56,6 +56,8 @@ object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] + ignore_on_red_traffic_light: + object_margin_to_path: 2.0 occlusion: enable: false From 9e55e100c985861cc9b5873e972b71211bb084a6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 17:15:46 +0900 Subject: [PATCH 02/18] feat: add use_conservative_buffer_longitudinal in avoidance (#656) Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index fe9c37d200..ea75fc9cb4 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 @@ -37,6 +37,7 @@ avoid_margin_lateral: 1.0 # [m] safety_buffer_lateral: 0.7 # [m] safety_buffer_longitudinal: 0.0 # [m] + use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: is_target: true execute_num: 1 @@ -47,6 +48,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true bus: is_target: true execute_num: 1 @@ -57,6 +59,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true trailer: is_target: true execute_num: 1 @@ -67,6 +70,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true unknown: is_target: true execute_num: 1 @@ -77,6 +81,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true bicycle: is_target: true execute_num: 1 @@ -87,6 +92,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true motorcycle: is_target: true execute_num: 1 @@ -97,6 +103,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true pedestrian: is_target: true execute_num: 1 @@ -107,6 +114,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m] From 262a77491e187f4aa678d846bc2c2d53b6961687 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 25 Oct 2023 17:37:30 +0900 Subject: [PATCH 03/18] chore(rviz): hide interseciton area polygon as default (#655) Signed-off-by: satoshi-ota --- autoware_launch/rviz/autoware.rviz | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index cdb1ffe690..1e0076275a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -401,6 +401,7 @@ Visualization Manager: walkway_lanelets: true hatched_road_markings_bound: true hatched_road_markings_area: false + intersection_area: false Topic: Depth: 5 Durability Policy: Transient Local From 99281f13da8cc89d91a1da4f66e807a0b0173d17 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Thu, 26 Oct 2023 18:31:05 +0900 Subject: [PATCH 04/18] feat(AEB): implement parameterized prediction time horizon and interval (#657) Signed-off-by: 1222-takeshi --- .../autonomous_emergency_braking.param.yaml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 09db0feb34..1a870aff7a 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + publish_debug_pointcloud: false use_predicted_trajectory: true use_imu_path: true voxel_grid_x: 0.05 @@ -11,7 +12,9 @@ t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - prediction_time_horizon: 1.5 - prediction_time_interval: 0.1 + imu_prediction_time_horizon: 1.5 + imu_prediction_time_interval: 0.1 + mpc_prediction_time_horizon: 1.5 + mpc_prediction_time_interval: 0.1 collision_keeping_sec: 0.0 aeb_hz: 10.0 From 546924401a4aa3d29119dab77a077796d5ea3bb9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 26 Oct 2023 19:50:29 +0300 Subject: [PATCH 05/18] fix(rviz2): update traffic_light/debug/rois topic name (#642) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 1e0076275a..fda080bfcf 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -903,7 +903,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/debug/rois + Value: /perception/traffic_light_recognition/traffic_light/debug/rois Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true From 6805d0a42db8e4fb1464385ea1af7d378ee05f98 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 30 Oct 2023 01:06:35 +0900 Subject: [PATCH 06/18] fix(lane_change): separate backward buffer for blocking object (#661) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 e09f6e479b..b7ae55536e 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 @@ -5,6 +5,7 @@ prepare_duration: 4.0 # [s] backward_length_buffer_for_end_of_lane: 3.0 # [m] + backward_length_buffer_for_blocking_object: 3.0 # [m] lane_change_finish_judge_buffer: 2.0 # [m] lane_changing_lateral_jerk: 0.5 # [m/s3] From 7c8fb4e2015a71a6a76ab355295bf7bd9ca91803 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 30 Oct 2023 10:29:08 +0900 Subject: [PATCH 07/18] feat(behavior_path_planner): add traffic light recognition timeout threshold (#662) Signed-off-by: satoshi-ota --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 3a7393a4c9..6acbe9783d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -3,6 +3,8 @@ verbose: false max_iteration_num: 100 + traffic_light_signal_timeout: 1.0 + groot_zmq_publisher_port: 1666 groot_zmq_server_port: 1667 From 4574c9b2738bb5b77348e5ed4d2ffd3daa54f073 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 30 Oct 2023 12:13:47 +0900 Subject: [PATCH 08/18] feat(radar_object_tracker): update and add parameter about radar_object_tracker for far away perecption (#658) update and add parameter about radar_object_tracker for far away detection Signed-off-by: yoshiri --- .../data_association_matrix.param.yaml | 8 ++--- .../default_tracker.param.yaml | 14 ++++---- .../radar_object_tracker.param.yaml | 9 +++-- .../constant_turn_rate_motion_tracker.yaml | 36 +++++++++++++++++++ .../tracking/linear_motion_tracker.yaml | 24 ++++++++----- .../tier4_perception_component.launch.xml | 4 +++ 6 files changed, 70 insertions(+), 25 deletions(-) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml index 104d790d18..69628414e6 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml @@ -14,10 +14,10 @@ max_dist_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN - 4.0, 4.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS - 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 4.0, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #CAR + 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #TRUCK + 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #BUS + 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, #TRAILER 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml index 757125202d..6c26034860 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: - car_tracker: "linear_motion_tracker" - truck_tracker: "linear_motion_tracker" - bus_tracker: "linear_motion_tracker" - trailer_tracker: "linear_motion_tracker" - pedestrian_tracker: "linear_motion_tracker" - bicycle_tracker: "linear_motion_tracker" - motorcycle_tracker: "linear_motion_tracker" + car_tracker: "constant_turn_rate_motion_tracker" + truck_tracker: "constant_turn_rate_motion_tracker" + bus_tracker: "constant_turn_rate_motion_tracker" + trailer_tracker: "constant_turn_rate_motion_tracker" + pedestrian_tracker: "constant_turn_rate_motion_tracker" + bicycle_tracker: "constant_turn_rate_motion_tracker" + motorcycle_tracker: "constant_turn_rate_motion_tracker" diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml index f80adffb41..d2c0841cf3 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml @@ -4,12 +4,11 @@ # basic settings world_frame_id: "map" tracker_lifetime: 1.0 # [sec] - # if empty, use default config declared in this package - tracking_config_directory: "" + measurement_count_threshold: 3 # object will be published if it is tracked more than this threshold # delay compensate parameters publish_rate: 10.0 - enable_delay_compensation: false + enable_delay_compensation: true # logging enable_logging: false @@ -18,10 +17,10 @@ # filtering ## 1. distance based filtering: remove closer objects than this threshold use_distance_based_noise_filtering: true - minimum_range_threshold: 70.0 # [m] + minimum_range_threshold: 60.0 # [m] ## 2. lanelet map based filtering use_map_based_noise_filtering: true max_distance_from_lane: 5.0 # [m] max_angle_diff_from_lane: 0.785398 # [rad] (45 deg) - max_lateral_velocity: 5.0 # [m/s] + max_lateral_velocity: 7.0 # [m/s] diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml new file mode 100644 index 0000000000..f80f881cab --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml @@ -0,0 +1,36 @@ +default: + # This file defines the parameters for the linear motion tracker. + # All this parameter coordinate is assumed to be in the vehicle coordinate system. + # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle. + ekf_params: + # random walk noise is used to model the acceleration noise + process_noise_std: # [m/s^2] + x: 0.5 + y: 0.5 + yaw: 0.1 + vx: 1.0 # assume 1m/s velocity noise + wz: 0.4 + measurement_noise_std: + x: 4.0 # [m] + y: 4.0 # [m] + # y: 0.02 # rad/m if use_polar_coordinate_in_measurement_noise is true + yaw: 0.2 # [rad] + vx: 10 # [m/s] + initial_covariance_std: + x: 3.0 # [m] + y: 6.0 # [m] + yaw: 10.0 # [rad] + vx: 100.0 # [m/s] + wz: 10.0 # [rad/s] + # input flag + trust_yaw_input: false # set true if yaw input of sensor is reliable + trust_twist_input: false # set true if twist input of sensor is reliable + use_polar_coordinate_in_measurement_noise: false # set true if you want to define the measurement noise in polar coordinate + assume_zero_yaw_rate: false # set true if you want to assume zero yaw rate + # output limitation + limit: + max_speed: 80.0 # [m/s] + # low pass filter is used to smooth the yaw and shape estimation + low_pass_filter: + time_constant: 1.0 # [s] + sampling_time: 0.1 # [s] diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml index 71367f4575..5e813558a2 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml @@ -7,22 +7,28 @@ default: process_noise_std: # [m/s^2] ax: 0.98 # assume 0.1G acceleration noise ay: 0.98 - vx: 0.1 # assume 0.1m/s velocity noise - vy: 0.1 + vx: 1.0 # assume 1m/s velocity noise + vy: 1.0 x: 1.0 # assume 1m position noise y: 1.0 measurement_noise_std: x: 0.6 # [m] - y: 0.9 # [m] - vx: 0.4 # [m/s] - vy: 1 # [m/s] + # y: 4.0 # [m] + y: 0.01 # rad/m if use_polar_coordinate_in_measurement_noise is true + vx: 10 # [m/s] + vy: 100 # [m/s] initial_covariance_std: x: 3.0 # [m] y: 6.0 # [m] - vx: 1.0 # [m/s] - vy: 5.0 # [m/s] - ax: 0.5 # [m/s^2] - ay: 1.0 # [m/s^2] + vx: 1000.0 # [m/s] + vy: 1000.0 # [m/s] + ax: 1000.0 # [m/s^2] + ay: 1000.0 # [m/s^2] + estimate_acc: false # set true if you want to estimate the acceleration + # input flag + trust_yaw_input: false # set true if yaw input of sensor is reliable + trust_twist_input: false # set true if twist input of sensor is reliable + use_polar_coordinate_in_measurement_noise: true # set true if you want to define the measurement noise in polar coordinate # output limitation limit: max_speed: 80.0 # [m/s] diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index e3df873492..5959d58e18 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -85,6 +85,10 @@ name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml" /> + Date: Mon, 30 Oct 2023 21:34:19 +0900 Subject: [PATCH 09/18] refactor(avoidance): cleanup force avoidance params (#667) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 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 ea75fc9cb4..ab1273b5b5 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 @@ -9,7 +9,6 @@ # avoidance module common setting enable_bound_clipping: false - enable_force_avoidance_for_stopped_vehicle: false enable_yield_maneuver: true enable_yield_maneuver_during_shifting: false enable_cancel_maneuver: true @@ -120,11 +119,6 @@ # For target object filtering target_filtering: - # params for avoidance of not-parked objects - threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] - object_ignore_section_traffic_light_in_front_distance: 100.0 # [m] - object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] - object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -141,6 +135,17 @@ max_forward_distance: 150.0 # [m] backward_distance: 10.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. + force_avoidance: + enable: false # [-] + time_threshold: 1.0 # [s] + ignore_area: + traffic_light: + front_distance: 100.0 # [m] + crosswalk: + front_distance: 30.0 # [m] + behind_distance: 30.0 # [m] + # For safety check safety_check: # safety check configuration From 0debb71dccab182faed8616839874064974c8118 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 31 Oct 2023 18:41:27 +0900 Subject: [PATCH 10/18] feat(avoidance): return original lane by red traffic light (#663) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) 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 ab1273b5b5..98d75415d0 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 @@ -191,11 +191,18 @@ # avoidance distance parameters longitudinal: prepare_time: 2.0 # [s] - remain_buffer_distance: 30.0 # [m] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] nominal_avoidance_speed: 8.33 # [m/s] + # return dead line + return_dead_line: + goal: + enable: true # [-] + buffer: 30.0 # [m] + traffic_light: + enable: true # [-] + buffer: 3.0 # [m] # For yield maneuver yield: From b868eaee917ff8e0555b515eecef242ecbb42b42 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 31 Oct 2023 20:06:04 +0900 Subject: [PATCH 11/18] feat(intersection): add ttc debug plotter (#666) 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 ea5c5736ca..960dd89b00 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 @@ -83,6 +83,9 @@ attention_lane_curvature_calculation_ds: 0.5 static_occlusion_with_traffic_light_timeout: 0.5 + debug: + ttc: [0] + enable_rtc: intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval intersection_to_occlusion: false From 2255356e0164430ed5bc7dd325e3b61e983567a3 Mon Sep 17 00:00:00 2001 From: Takeshi Miura Date: Wed, 1 Nov 2023 13:05:46 +0900 Subject: [PATCH 12/18] feat(vehicle_cmd_gate): improve debug marker activation (#659) * feat(vehicle_cmd_gate): add filter activated threshold Signed-off-by: 1222-takeshi * feat: update parameter Signed-off-by: 1222-takeshi * feat: add condition for filtering marker Signed-off-by: 1222-takeshi --------- Signed-off-by: 1222-takeshi --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 191e894622..7ad685217f 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -6,6 +6,8 @@ check_external_emergency_heartbeat: false use_start_request: false enable_cmd_limit_filter: true + filter_activated_count_threshold: 5 + filter_activated_velocity_threshold: 1.0 external_emergency_stop_heartbeat_timeout: 0.0 stop_hold_acceleration: -1.5 emergency_acceleration: -2.4 From e76498c62dec7741a3b993ae2895056e33fd7f29 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 2 Nov 2023 16:23:18 +0900 Subject: [PATCH 13/18] refactor(planning): update args name (#671) Signed-off-by: satoshi-ota --- .../tier4_planning_component.launch.xml | 52 +++++++++---------- 1 file changed, 25 insertions(+), 27 deletions(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index a1cb2b79f5..0f70873d55 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -29,37 +29,35 @@ - - - - - - - - - - + + + + + + + + + + - + + + + + + + + + + + + + + + From 80fa7e8f58abc9794957277f338a3f006e74c180 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 6 Nov 2023 16:11:00 +0900 Subject: [PATCH 14/18] refactor(planning): update args name (#675) Signed-off-by: satoshi-ota --- .../tier4_planning_component.launch.xml | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 0f70873d55..7a21273131 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -4,10 +4,11 @@ - - - - + + + + + @@ -71,15 +72,10 @@ - - - - - - + From 81d71f69de825714b4555804c1e130723ba45fb7 Mon Sep 17 00:00:00 2001 From: Takeshi Miura Date: Mon, 6 Nov 2023 19:32:58 +0900 Subject: [PATCH 15/18] chore(goal_planner): fix typo (#670) Signed-off-by: 1222-takeshi --- .../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 0f1b441bed..295c9caf84 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 @@ -48,7 +48,7 @@ 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) + efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) # shift parking shift_parking: From a71571bd55168c3cb9030c28f8ff872b5157814c Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 6 Nov 2023 20:02:04 +0900 Subject: [PATCH 16/18] feat(ekf_localizer, system_error_monitor): system_error_monitor handles ekf diags (#674) * fix(ekf_localizer): change default parameter for no update count Signed-off-by: kminoda * update system_error_monitor Signed-off-by: kminoda --------- Signed-off-by: kminoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 4 ++-- .../system_error_monitor/system_error_monitor.param.yaml | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 667217d259..1c16624605 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -24,9 +24,9 @@ # for diagnostics pose_no_update_count_threshold_warn: 50 - pose_no_update_count_threshold_error: 250 + pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 - twist_no_update_count_threshold_error: 250 + twist_no_update_count_threshold_error: 100 # for velocity measurement limitation (Set 0.0 if you want to ignore) threshold_observable_velocity_mps: 0.0 # [m/s] diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index b8da5f4e7c..6a763eace4 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -24,6 +24,7 @@ /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_accuracy: default + /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default From 916c39cb4ef170c727cc22e689eaa468d834f5cd Mon Sep 17 00:00:00 2001 From: KokiAoki <81670028+KOKIAOKI@users.noreply.github.com> Date: Tue, 7 Nov 2023 16:43:32 +0900 Subject: [PATCH 17/18] feat(ndt_scan_matcher): add parameters of real-time covariance estimation (#643) * add covariance_estimation * fix * fix * fix: parameter names and explanations Signed-off-by: Koki Aoki * fix: A parameter that I forgot to add Signed-off-by: Koki Aoki * fix: remove white space Signed-off-by: KOKIAOKI * fix: remove white spaces --------- Signed-off-by: Koki Aoki Signed-off-by: KOKIAOKI --- .../config/localization/ndt_scan_matcher.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 0ba1b1a2e1..1a6c26cd9c 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -72,6 +72,14 @@ 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, ] + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) + use_covariance_estimation: false + + # Offset arrangement in covariance estimation [m] + # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. + initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] + initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + # Regularization switch regularization_enabled: false From 426378d93ada2c1b6f205f4e6be4cd1be8e2d0c7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 7 Nov 2023 17:29:53 +0900 Subject: [PATCH 18/18] chore(tier4_planning_launch): add costmap generator config (#679) Signed-off-by: satoshi-ota --- .../common/costmap_generator.param.yaml | 22 +++++++++++++++++++ .../tier4_planning_component.launch.xml | 4 ++++ 2 files changed, 26 insertions(+) create mode 100644 autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml new file mode 100644 index 0000000000..cf4f73dc79 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + costmap_frame: "map" + vehicle_frame: "base_link" + map_frame: "map" + update_rate: 10.0 + activate_by_scenario: False + grid_min_value: 0.0 + grid_max_value: 1.0 + grid_resolution: 0.2 + grid_length_x: 70.0 + grid_length_y: 70.0 + grid_position_x: 0.0 + grid_position_y: 0.0 + maximum_lidar_height_thres: 0.3 + minimum_lidar_height_thres: -2.2 + use_wayarea: true + use_parkinglot: true + use_objects: true + use_points: true + expand_polygon_size: 1.0 + size_of_expansion_kernel: 9 diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 7a21273131..5f14006f7a 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -17,6 +17,9 @@ + + + @@ -25,6 +28,7 @@ +