From d1f298ee0f954bc8531eff1097aed601f4ace0aa Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 27 Jul 2023 05:38:24 +0900 Subject: [PATCH 1/7] refactor(planning_launch): clean stop line parameters (#475) --- .../behavior_velocity_planner/stop_line.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/stop_line.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index 69e9241ba1..5fa183d73a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -2,10 +2,9 @@ ros__parameters: stop_line: stop_margin: 0.0 - stop_check_dist: 2.0 stop_duration_sec: 1.0 use_initialization_stop_line_state: true hold_stop_margin_distance: 2.0 debug: - show_stopline_collision_check: false + show_stop_line_collision_check: false From 579537bcf59c0f51b917d236e154a9069c9407d8 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 27 Jul 2023 13:45:34 +0900 Subject: [PATCH 2/7] refactor(avoidance): use common safety checker (#477) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 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 fb20a0bfb3..edee0756e9 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 @@ -13,7 +13,6 @@ enable_bound_clipping: false 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 @@ -133,10 +132,18 @@ # For safety check safety_check: + # safety check configuration + enable: true # [-] + check_current_lane: false # [-] + check_shift_side_lane: true # [-] + check_other_side_lane: false # [-] + check_unavoidable_object: false # [-] + check_other_object: true # [-] + # collision check parameters + check_all_predicted_path: false # [-] + time_resolution: 0.5 # [s] + time_horizon: 10.0 # [s] 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 # [-] safety_check_ego_offset: 1.0 # [m] From 4ee5cc8bfa5817cf8ec1f1ae824a6cd0c24258fa Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 27 Jul 2023 21:16:06 +0900 Subject: [PATCH 3/7] feat(path_smoother): add parameters for the replan checker (#482) Signed-off-by: Maxime CLEMENT --- .../path_smoother/elastic_band_smoother.param.yaml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml index 730bc3053e..8e77420dd4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml @@ -35,3 +35,13 @@ # nearest search ego_nearest_dist_threshold: 3.0 # [m] ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg] + # replanning & trimming trajectory param outside algorithm + replan: + enable: true # if true, only perform smoothing when the input changes significantly + max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m] + max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m] + max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m] + max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m] + # make max_goal_moving_dist long to keep start point fixed for pull over + max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m] + max_delta_time_sec: 1.0 # threshold of delta time for replan [second] From 4a618ae2305a50c832083d082f9794d640f749b7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 27 Jul 2023 23:32:37 +0900 Subject: [PATCH 4/7] feat(autoware_launch): add enable_debug_info for dynamic_avoidance (#478) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 845f9c38e2..4b92567a35 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 @@ -1,6 +1,9 @@ /**: ros__parameters: dynamic_avoidance: + common: + enable_debug_info: true + # avoidance is performed for the object type with true target_object: car: true From bec9d95e3278cfe1c5d2e3256e1c93951c595a4d Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 28 Jul 2023 09:11:12 +0900 Subject: [PATCH 5/7] feat(autoware_launch): add cut_in_object.min_lon_offset_ego_to_object in dynamic avoidance (#481) * feat(autoware_launch): add cut_in_object.min_lon_offset_ego_to_object in dynamic avoidance Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/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 4b92567a35..336879185f 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 @@ -22,6 +22,10 @@ min_obj_lat_offset_to_ego_path: 0.0 # [m] max_obj_lat_offset_to_ego_path: 1.0 # [m] + cut_in_object: + min_time_to_start_cut_in: 1.0 # [s] + min_lon_offset_ego_to_object: 0.0 # [m] + crossing_object: min_object_vel: 1.0 max_object_angle: 1.05 From 0d511da1e0d1fc0bd7a83d6722e6e4a9958555d1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Muhammed=20Yavuz=20K=C3=B6seo=C4=9Flu?= Date: Fri, 28 Jul 2023 12:08:49 +0300 Subject: [PATCH 6/7] refactor(tier4_localization_component): input_pointcloud param added (#480) * refactor(tier4_localization_component): input_pointcloud param added * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../launch/components/tier4_localization_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index e167dd91ec..5fe0d856d2 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -3,6 +3,7 @@ + @@ -11,6 +12,7 @@ + From 91d4afb6e4701601bbc544eb8b8ea9fbb823e53d Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Sat, 29 Jul 2023 17:03:56 +0900 Subject: [PATCH 7/7] feat(intersection): extract occlusion contour as polygon (#485) Signed-off-by: Mamoru Sobue --- .../intersection.param.yaml | 2 +- autoware_launch/rviz/autoware.rviz | 26 ------------------- 2 files changed, 1 insertion(+), 27 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index f20db856a9..e6bfc56a62 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 @@ -46,7 +46,7 @@ min_vehicle_brake_for_rss: -2.5 # [m/s^2] max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph denoise_kernel: 1.0 # [m] - pub_debug_grid: false + possible_object_bbox: [1.0, 2.0] # [m x 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 diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 2e17e514ba..0dad17aaf9 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1692,32 +1692,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection Value: false - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: color - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: Layer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: IntersectionOcclusion - Show Grid Lines: false - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid - Use Rainbow: true - Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Blind Spot