From 9e102a549f7e26b5b335fec3d408b556178b446a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 19 May 2023 14:05:29 +0900 Subject: [PATCH 1/7] feat(intersection): denoise occlusion by morphology open process (#361) parameterize kernel size Signed-off-by: Mamoru Sobue --- .../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 e8f499d00f..28f782bb5c 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 @@ -40,6 +40,7 @@ before_creep_stop_time: 0.1 # [s] 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] merge_from_private: stop_duration_sec: 1.0 From 0ccc1e79899de48c1489e0a8e8852f702e98f56e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 19 May 2023 14:31:39 +0900 Subject: [PATCH 2/7] feat(autoware_launch): add hysteresis for slow down decision (#354) Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 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 63a5157ca1..5079e7ab50 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 @@ -86,14 +86,15 @@ collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: - max_lat_margin: 0.5 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] ego_obstacle_overlap_time_threshold : 1.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego slow_down: - max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.7 # lateral margin between obstacle and trajectory band with ego's width + lat_hysteresis_margin: 0.1 cruise: pid_based_planner: From e59f08a698370e57e6cc48d843e5ca68df04c326 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 19 May 2023 14:36:01 +0900 Subject: [PATCH 3/7] feat(autoware_launch): time margin for slow down (#359) Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) 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 5079e7ab50..672b33e5f4 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 @@ -167,5 +167,7 @@ min_ego_velocity: 2.0 max_ego_velocity: 8.0 + time_margin_on_target_velocity: 1.5 # [s] + # max deceleration during slow down max_deceleration: -1.0 From 077835f84d2d0ddadc98a2d8bba6c688ce70dab4 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 19 May 2023 15:32:59 +0900 Subject: [PATCH 4/7] feat(avoidance): don't avoid objects around crosswalks (#362) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 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 2e5b96116d..e0b709cfe8 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 @@ -74,9 +74,11 @@ threshold_time_object_is_moving: 1.0 # [s] threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] # detection range - object_check_force_avoidance_clearance: 30.0 # [m] + object_ignore_distance_traffic_light: 30.0 # [m] + object_ignore_distance_crosswalk_forward: 30.0 # [m] + object_ignore_distance_crosswalk_backward: 30.0 # [m] object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 100.0 # [m] + object_check_backward_distance: 100.0 # [m] object_check_goal_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] From 44ca4a1eef622114a7ed6e2b982c1d4f8935e2c4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 19 May 2023 16:30:40 +0900 Subject: [PATCH 5/7] feat(autoware_launch): add time margins for dynamic avoidance (#360) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance.param.yaml | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) 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 6d19b61995..39de93dab6 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 +16,17 @@ drivable_area_generation: lat_offset_from_obstacle: 0.8 # [m] - time_to_avoid_same_directional_object: 5.0 # [s] - time_to_avoid_opposite_directional_object: 6.0 # [s] max_lat_offset_to_avoid: 0.5 # [m] + + # for same directional object + overtaking_object: + max_time_to_collision: 3.0 # [s] + start_duration_to_avoid: 4.0 # [s] + end_duration_to_avoid: 5.0 # [s] + duration_to_hold_avoidance: 3.0 # [s] + + # for opposite directional object + oncoming_object: + max_time_to_collision: 3.0 # [s] + start_duration_to_avoid: 9.0 # [s] + end_duration_to_avoid: 0.0 # [s] From 5a103f9742aaea019c1773a8ad7ef9b05c151527 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 20 May 2023 00:51:13 +0900 Subject: [PATCH 6/7] feat(autoware_launch): remove min_acc in obstacle_cruise_planner for slow down (#356) Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 3 --- 1 file changed, 3 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 672b33e5f4..c28177bb64 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 @@ -168,6 +168,3 @@ max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s] - - # max deceleration during slow down - max_deceleration: -1.0 From b27e2f3cae2442d37c032d61d33f2c2ac5d8a13f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 21 May 2023 17:25:50 +0900 Subject: [PATCH 7/7] feat(autoware_launch): update obstacle_cruise_planner param (#364) * feat(autoware_launch): update obstacle_cruise_planner param Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 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 c28177bb64..e7a9a7fb27 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 @@ -86,15 +86,15 @@ collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: - max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] ego_obstacle_overlap_time_threshold : 1.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego slow_down: - max_lat_margin: 0.7 # lateral margin between obstacle and trajectory band with ego's width - lat_hysteresis_margin: 0.1 + max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width + lat_hysteresis_margin: 0.2 cruise: pid_based_planner: @@ -168,3 +168,7 @@ max_ego_velocity: 8.0 time_margin_on_target_velocity: 1.5 # [s] + + lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity + lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path + lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start