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Merge pull request #49 from tier4/sync-awf-latest-x1
chore: sync awf-latest-x1
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## Description | ||
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<!-- Write a brief description of this PR. --> | ||
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## Tests performed | ||
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<!-- Describe how you have tested this PR. --> | ||
<!-- Although the default value is set to "Not Applicable.", please update this section if the type is either [feat, fix, perf], or if requested by the reviewers. --> | ||
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Not applicable. | ||
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## Effects on system behavior | ||
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<!-- Describe how this PR affects the system behavior. --> | ||
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Not applicable. | ||
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## Pre-review checklist for the PR author | ||
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The PR author **must** check the checkboxes below when creating the PR. | ||
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- [ ] I've confirmed the [contribution guidelines]. | ||
- [ ] The PR follows the [pull request guidelines]. | ||
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## In-review checklist for the PR reviewers | ||
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The PR reviewers **must** check the checkboxes below before approval. | ||
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- [ ] The PR follows the [pull request guidelines]. | ||
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## Post-review checklist for the PR author | ||
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The PR author **must** check the checkboxes below before merging. | ||
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- [ ] There are no open discussions or they are tracked via tickets. | ||
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After all checkboxes are checked, anyone who has write access can merge the PR. | ||
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[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ | ||
[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ |
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## Description | ||
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<!-- Write a brief description of this PR. --> | ||
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## Related links | ||
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<!-- Write the links related to this PR. Private links should be clearly marked as private, for example, '[FOO COMPANY INTERNAL LINK](https://example.com)'. --> | ||
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## Tests performed | ||
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## Notes for reviewers | ||
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<!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. --> | ||
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## Interface changes | ||
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<!-- Describe any changed interfaces, such as topics, services, or parameters. --> | ||
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## Effects on system behavior | ||
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<!-- Describe how this PR affects the system behavior. --> | ||
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## Pre-review checklist for the PR author | ||
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The PR author **must** check the checkboxes below when creating the PR. | ||
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- [ ] I've confirmed the [contribution guidelines]. | ||
- [ ] The PR follows the [pull request guidelines]. | ||
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## In-review checklist for the PR reviewers | ||
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The PR reviewers **must** check the checkboxes below before approval. | ||
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- [ ] The PR follows the [pull request guidelines]. | ||
- [ ] The PR has been properly tested. | ||
- [ ] The PR has been reviewed by the code owners. | ||
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## Post-review checklist for the PR author | ||
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The PR author **must** check the checkboxes below before merging. | ||
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- [ ] There are no open discussions or they are tracked via tickets. | ||
- [ ] The PR is ready for merge. | ||
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After all checkboxes are checked, anyone who has write access can merge the PR. | ||
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[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ | ||
[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ |
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53 changes: 27 additions & 26 deletions
53
...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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/**: | ||
ros__parameters: | ||
intersection: | ||
state_transit_margin_time: 1.0 | ||
stop_line_margin: 3.0 | ||
keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr | ||
stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. | ||
stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) | ||
stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h | ||
intersection_velocity: 2.778 # 2.778m/s = 10.0km/h | ||
intersection_max_accel: 0.5 # m/ss | ||
detection_area_margin: 0.5 # [m] | ||
detection_area_right_margin: 0.5 # [m] | ||
detection_area_left_margin: 0.5 # [m] | ||
detection_area_length: 200.0 # [m] | ||
detection_area_angle_threshold: 0.785 # [rad] | ||
min_predicted_path_confidence: 0.05 | ||
minimum_ego_predicted_velocity: 1.388 # [m/s] | ||
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 | ||
use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck | ||
assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning | ||
enable_front_car_decel_prediction: false # By default this feature is disabled | ||
stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection | ||
external_input_timeout: 1.0 | ||
common: | ||
detection_area_margin: 0.5 # [m] | ||
detection_area_right_margin: 0.5 # [m] | ||
detection_area_left_margin: 0.5 # [m] | ||
detection_area_length: 200.0 # [m] | ||
detection_area_angle_threshold: 0.785 # [rad] | ||
stop_line_margin: 3.0 | ||
intersection_velocity: 2.778 # 2.778m/s = 10.0km/h | ||
intersection_max_accel: 0.5 # m/ss | ||
stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection | ||
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stuck_vehicle: | ||
use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck | ||
stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) | ||
stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h | ||
stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. | ||
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 | ||
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collision_detection: | ||
state_transit_margin_time: 1.0 | ||
min_predicted_path_confidence: 0.05 | ||
minimum_ego_predicted_velocity: 1.388 # [m/s] | ||
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 | ||
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merge_from_private_road: | ||
stop_duration_sec: 1.0 | ||
merge_from_private: | ||
merge_from_private_area: | ||
stop_duration_sec: 1.0 | ||
stop_duration_sec: 1.0 |
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