From d475f0392bda0f1169cd1baabaf265698d736784 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 3 Apr 2024 11:46:45 +0900 Subject: [PATCH 01/12] fix(lane_change): collision check for prepare in intersection (#930) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.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/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 a25234e100..32699907a2 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 @@ -78,7 +78,9 @@ pedestrian: true # collision check - enable_prepare_segment_collision_check: false + enable_collision_check_for_prepare_phase: + general_lanes: false + intersection: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: false check_objects_on_other_lanes: false From f563ff7d8197fe351d0d9cffa835a933d8ea34c3 Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Fri, 5 Apr 2024 01:20:59 +0900 Subject: [PATCH 02/12] feat(autoware_launch): add centerpoint_sigma param (#945) add: centerpoint_sigma.param Signed-off-by: tzhong518 --- .../lidar_model/centerpoint.param.yaml | 1 + .../lidar_model/centerpoint_sigma.param.yaml | 27 +++++++++++++++++++ .../lidar_model/centerpoint_tiny.param.yaml | 1 + 3 files changed, 29 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index a9c3174846..38c57285e5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -14,6 +14,7 @@ iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] score_threshold: 0.35 + has_variance: false has_twist: false trt_precision: fp16 densification_num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml new file mode 100644 index 0000000000..c217f63213 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml @@ -0,0 +1,27 @@ +/**: + ros__parameters: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + voxel_size: [0.32, 0.32, 10.0] + downsample_factor: 1 + encoder_in_feature_size: 9 + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_variance: true + has_twist: true + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index 474d0e2b69..35e11e61e9 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -14,6 +14,7 @@ iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] score_threshold: 0.35 + has_variance: false has_twist: false trt_precision: fp16 densification_num_past_frames: 1 From 18173b0aee86142b55326b50aba0946e1e94a3de Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 5 Apr 2024 10:50:23 +0900 Subject: [PATCH 03/12] feat(lane_change): check prepare phase in turn direction lanes (#943) Signed-off-by: Muhammad Zulfaqar Azmi --- .../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 32699907a2..10757691c9 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 @@ -81,6 +81,7 @@ enable_collision_check_for_prepare_phase: general_lanes: false intersection: true + turns: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: false check_objects_on_other_lanes: false From e37a0630d80f98ac48771c17aff80f98f77f2d1f Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 5 Apr 2024 19:04:55 +0900 Subject: [PATCH 04/12] feat(run_out): maintain stop wall for some seconds (#944) update stop wall maintain time to 1 sec Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 26801f21ba..c8905f66da 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -17,6 +17,7 @@ ego_cut_line_length: 3.0 # The width of the ego's cut line ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. + keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled # Parameter to create abstracted dynamic obstacles dynamic_obstacle: From 6f1afbfbc6e3f2bb80c6d4ce359fcbf4a586f819 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 8 Apr 2024 18:41:50 +0900 Subject: [PATCH 05/12] chore(ground_segmentation): add tuning param (#946) Signed-off-by: badai-nguyen --- .../ground_segmentation/ground_segmentation.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index f2be6aeb8b..3f33218eb3 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -30,6 +30,7 @@ detection_range_z_max: 2.5 elevation_grid_mode: true use_recheck_ground_cluster: true + use_lowest_point: true low_priority_region_x: -20.0 center_pcl_shift: 0.0 radial_divider_angle_deg: 1.0 From 6b2229e87a64115e4fdb5c8c8b69c91ca30caf70 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 9 Apr 2024 09:45:31 +0900 Subject: [PATCH 06/12] feat(avoidance): limit acceleration during avoidance maneuver (#947) * feat(avoidance): limit acceleration during avoidance maneuver Signed-off-by: satoshi-ota * fix(avoidance): tune longitudinal max acceleration Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 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 0f430e3048..1eac06cb08 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 @@ -287,7 +287,8 @@ nominal_jerk: 0.5 # [m/sss] max_deceleration: -1.5 # [m/ss] max_jerk: 1.0 # [m/sss] - max_acceleration: 1.0 # [m/ss] + max_acceleration: 0.5 # [m/ss] + min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] shift_line_pipeline: trim: From 3cdbbe02385ab19bf1c04f239e70c072cf2bcf25 Mon Sep 17 00:00:00 2001 From: Zhe Shen <80969277+HansOersted@users.noreply.github.com> Date: Tue, 9 Apr 2024 22:31:19 +0900 Subject: [PATCH 07/12] fix(trajectory_follower): accommodate the parameters of the controllers to the dynamics in the simulator. (#941) correct the parameters of the controller. The parameters of the dynamics and the controller are identical after this commit Signed-off-by: Zhe Shen --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 7820c562e8..37772ac574 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.27 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index ad6217663f..5f023e1685 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - delay_compensation_time: 0.17 + delay_compensation_time: 0.1 enable_smooth_stop: true enable_overshoot_emergency: true From c844a887815f9d1897fda98b4a083d1f32be1efe Mon Sep 17 00:00:00 2001 From: Xuyuan Han <48040943+xuyuan-han@users.noreply.github.com> Date: Tue, 9 Apr 2024 20:51:13 +0200 Subject: [PATCH 08/12] fix(tier4_control_component_launch): fix duplicate declaration of controller parameter paths (#940) Signed-off-by: Xuyuan Han --- .../launch/components/tier4_control_component.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 5c3cf06ad0..30dc655102 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -32,8 +32,6 @@ - - From 4d5865c33e485e78e5aece983cc7d7296e72d470 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 10 Apr 2024 15:12:37 +0900 Subject: [PATCH 09/12] chore(intersection_occlusion): increase possible_object_bbox size to ignore small occlusion and ghost stop (#950) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 68d4070cbf..d39c97ac47 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 @@ -101,7 +101,7 @@ creep_velocity: 0.8333 peeking_offset: -0.5 occlusion_required_clearance_distance: 55.0 - possible_object_bbox: [1.5, 2.5] + possible_object_bbox: [1.75, 2.5] ignore_parked_vehicle_speed_threshold: 0.8333 occlusion_detection_hold_time: 1.5 temporal_stop_time_before_peeking: 0.1 From 727ca2650224f2d283b38b50c5e03e527c6734c3 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 11 Apr 2024 19:28:36 +0900 Subject: [PATCH 10/12] refactor(avoidance, AbLC): rebuild parameter structure (#951) * refactor(avoidance): update yaml Signed-off-by: satoshi-ota * refactor(AbLC): update yaml Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 284 +++++++++--------- .../avoidance_by_lane_change.param.yaml | 32 +- 2 files changed, 158 insertions(+), 158 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 1eac06cb08..92f533bc63 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 @@ -2,12 +2,11 @@ /**: ros__parameters: avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] + resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER + resample_interval_for_output: 4.0 # [m] FOR DEVELOPER # avoidance module common setting enable_bound_clipping: false - enable_cancel_maneuver: true disable_path_update: false # drivable area setting @@ -17,210 +16,199 @@ use_hatched_road_markings: true use_freespace_areas: true - # for debug - publish_debug_marker: false - print_debug_info: false - # avoidance is performed for the object type with true target_object: car: - execute_num: 1 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 2.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 2.0 # [s] + longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] - max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.5 # [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. + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] + max_expand_ratio: 0.0 # [-] FOR DEVELOPER + envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER + use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.3 # [m] - hard_margin: 0.2 # [m] - hard_margin_for_parked_vehicle: 0.7 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: -0.2 # [m] - hard_margin_for_parked_vehicle: -0.2 # [m] + soft_margin: 0.7 + hard_margin: -0.2 + hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.5 # [m] - hard_margin_for_parked_vehicle: 0.5 # [m] + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] + soft_margin: 0.7 + hard_margin: 0.3 + hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.5 # [m] - hard_margin_for_parked_vehicle: 0.5 # [m] + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - 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] + lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER + upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER # For target object filtering target_filtering: # avoidance target type target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: true # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range - object_check_goal_distance: 20.0 # [m] - object_check_return_pose_distance: 20.0 # [m] - # filtering parking objects - threshold_distance_object_is_on_center: 1.0 # [m] - object_check_shiftable_ratio: 0.8 # [-] - object_check_min_road_shoulder_width: 0.5 # [m] + object_check_goal_distance: 20.0 # [m] + object_check_return_pose_distance: 20.0 # [m] # lost object compensation - object_last_seen_threshold: 2.0 + max_compensation_time: 2.0 # detection area generation parameters detection_area: - static: false # [-] - min_forward_distance: 50.0 # [m] - max_forward_distance: 150.0 # [m] - backward_distance: 10.0 # [m] + static: false # [-] + min_forward_distance: 50.0 # [m] + max_forward_distance: 150.0 # [m] + backward_distance: 10.0 # [m] + + # filtering parking objects + parked_vehicle: + th_offset_from_centerline: 1.0 # [m] + th_shiftable_ratio: 0.8 # [-] + min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: - enable: true # [-] - closest_distance_to_wait_and_see: 10.0 # [m] + enable: true # [-] + closest_distance_to_wait_and_see: 10.0 # [m] condition: - time_threshold: 3.0 # [s] - distance_threshold: 1.0 # [m] + th_stopped_time: 3.0 # [s] + th_moving_distance: 1.0 # [m] ignore_area: traffic_light: - front_distance: 100.0 # [m] + front_distance: 100.0 # [m] crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] + front_distance: 30.0 # [m] + behind_distance: 30.0 # [m] # params for filtering objects that are in intersection intersection: - yaw_deviation: 0.349 # [rad] (default 20.0deg) + yaw_deviation: 0.349 # [rad] (default 20.0deg) # For safety check safety_check: # safety check target type target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: false # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # 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 # [-] + 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 # [-] - safety_check_backward_distance: 100.0 # [m] - hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 3 # [-] + check_all_predicted_path: false # [-] + safety_check_backward_distance: 100.0 # [m] + hysteresis_factor_expand_rate: 1.5 # [-] + hysteresis_factor_safe_count: 3 # [-] # 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] + 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 - extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" - expected_front_deceleration: -1.0 # [m/ss] - expected_rear_deceleration: -1.0 # [m/ss] - rear_vehicle_reaction_time: 2.0 # [s] - rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 2.0 # [m] - longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.0 # [s] + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" + expected_front_deceleration: -1.0 # [m/ss] + expected_rear_deceleration: -1.0 # [m/ss] + rear_vehicle_reaction_time: 2.0 # [s] + rear_vehicle_safety_time_margin: 1.0 # [s] + lateral_distance_max_threshold: 2.0 # [m] + longitudinal_distance_min_threshold: 3.0 # [m] + longitudinal_velocity_delta_time: 0.0 # [s] # For avoidance maneuver avoidance: # avoidance lateral parameters lateral: - lateral_execution_threshold: 0.09 # [m] - lateral_small_shift_threshold: 0.101 # [m] - lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] - hard_road_shoulder_margin: 0.3 # [m] - max_right_shift_length: 5.0 - max_left_shift_length: 5.0 + th_avoid_execution: 0.09 # [m] FOR DEVELOPER + th_small_shift_length: 0.101 # [m] FOR DEVELOPER + soft_drivable_bound_margin: 0.3 # [m] + hard_drivable_bound_margin: 0.3 # [m] + max_right_shift_length: 5.0 # [m] FOR DEVELOPER + max_left_shift_length: 5.0 # [m] FOR DEVELOPER max_deviation_from_lane: 0.2 # [m] # approve the next shift line after reaching this percentage of the current shift line length. # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. @@ -232,8 +220,8 @@ max_prepare_time: 2.0 # [s] 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] + buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER + nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER # return dead line return_dead_line: goal: @@ -243,6 +231,10 @@ enable: true # [-] buffer: 3.0 # [m] + # For cancel maneuver + cancel: + enable: true # [-] + # For yield maneuver yield: enable: true # [-] @@ -251,7 +243,7 @@ # For stop maneuver stop: max_distance: 20.0 # [m] - stop_buffer: 1.0 # [m] + stop_buffer: 1.0 # [m] FOR DEVELOPER policy: # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". @@ -273,6 +265,10 @@ # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. use_shorten_margin_immediately: true # [-] + # -------------------------------------- + # FOLLOWING PARAMETERS ARE FOR DEVELOPER + # -------------------------------------- + constraints: # lateral constraints lateral: @@ -292,8 +288,12 @@ shift_line_pipeline: trim: - quantize_filter_threshold: 0.1 - same_grad_filter_1_threshold: 0.1 - same_grad_filter_2_threshold: 0.2 - same_grad_filter_3_threshold: 0.5 - sharp_shift_filter_threshold: 0.2 + quantize_size: 0.1 + th_similar_grad_1: 0.1 + th_similar_grad_2: 0.2 + th_similar_grad_3: 0.5 + + # for debug + debug: + marker: false + console: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml index ce0ba25700..384ef7bd28 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml @@ -8,8 +8,8 @@ target_object: car: execute_num: 2 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] lateral_margin: @@ -18,8 +18,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] truck: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -28,8 +28,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] bus: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -38,8 +38,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] trailer: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -48,8 +48,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] unknown: execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -58,8 +58,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: @@ -68,8 +68,8 @@ hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: @@ -78,8 +78,8 @@ hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: From 55009f3cc06ac254c1e2093b8fc1f95e86690922 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 12 Apr 2024 15:36:28 +0900 Subject: [PATCH 11/12] refactor(avoidance): unify redundant parameters (#953) refactor(avoidance): remove unused parameters Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 10 ++-------- 1 file changed, 2 insertions(+), 8 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 92f533bc63..5d6044df64 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 @@ -28,7 +28,6 @@ hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -39,7 +38,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true bus: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -50,7 +48,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true trailer: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -61,7 +58,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true unknown: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -72,7 +68,6 @@ hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - use_conservative_buffer_longitudinal: true bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -83,7 +78,6 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 @@ -94,7 +88,6 @@ hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -105,7 +98,6 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER @@ -222,6 +214,8 @@ min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER + consider_front_overhang: true # [-] + consider_rear_overhang: true # [-] # return dead line return_dead_line: goal: From 4422decbd2df0a348ff60c0134bd585b6479282c Mon Sep 17 00:00:00 2001 From: tzhong518 Date: Thu, 18 Apr 2024 09:24:31 +0900 Subject: [PATCH 12/12] fix: add has_variance to pointpainting.param.yaml Signed-off-by: tzhong518 --- .../detection/lidar_model/pointpainting.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 3abaffb243..53ac6f4caf 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -16,6 +16,7 @@ downsample_factor: 1 encoder_in_feature_size: 12 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + has_variance: false has_twist: false densification_params: world_frame_id: "map"