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chore: sync awf/autoware_launch #145

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merged 7 commits into from
May 22, 2023
Merged

chore: sync awf/autoware_launch #145

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9e102a5
feat(intersection): denoise occlusion by morphology open process (#361)
soblin May 19, 2023
0ccc1e7
feat(autoware_launch): add hysteresis for slow down decision (#354)
takayuki5168 May 19, 2023
e59f08a
feat(autoware_launch): time margin for slow down (#359)
takayuki5168 May 19, 2023
077835f
feat(avoidance): don't avoid objects around crosswalks (#362)
satoshi-ota May 19, 2023
44ca4a1
feat(autoware_launch): add time margins for dynamic avoidance (#360)
takayuki5168 May 19, 2023
5a103f9
feat(autoware_launch): remove min_acc in obstacle_cruise_planner for …
takayuki5168 May 19, 2023
b27e2f3
feat(autoware_launch): update obstacle_cruise_planner param (#364)
takayuki5168 May 21, 2023
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6 changes: 4 additions & 2 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -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]
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15 changes: 13 additions & 2 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Expand Up @@ -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]
1 change: 1 addition & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -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
12 changes: 8 additions & 4 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -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: 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: 1.0 # lateral margin between obstacle and trajectory band with ego's width
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:
Expand Down Expand Up @@ -166,5 +167,8 @@
min_ego_velocity: 2.0
max_ego_velocity: 8.0

# max deceleration during slow down
max_deceleration: -1.0
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