From e3c11030c3f52ad1c1c40d3676c6572581a73745 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 11 Jul 2023 13:59:27 +0900 Subject: [PATCH] feat(avodiance_by_lc): make it possible to configurate flexibly Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 8 ++ .../avoidance_by_lc.param.yaml | 82 ++++++++++++++++++- .../scene_module_manager.param.yaml | 3 +- .../rtc_auto_mode_manager.param.yaml | 4 + 4 files changed, 92 insertions(+), 5 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 15aa644390..fb20a0bfb3 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 @@ -32,6 +32,7 @@ target_object: car: is_target: true # [-] + execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] @@ -41,6 +42,7 @@ safety_buffer_longitudinal: 0.0 # [m] truck: is_target: true + execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -50,6 +52,7 @@ safety_buffer_longitudinal: 0.0 bus: is_target: true + execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -59,6 +62,7 @@ safety_buffer_longitudinal: 0.0 trailer: is_target: true + execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -68,6 +72,7 @@ safety_buffer_longitudinal: 0.0 unknown: is_target: true + execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -77,6 +82,7 @@ safety_buffer_longitudinal: 0.0 bicycle: is_target: true + execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -86,6 +92,7 @@ safety_buffer_longitudinal: 1.0 motorcycle: is_target: true + execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -95,6 +102,7 @@ safety_buffer_longitudinal: 1.0 pedestrian: is_target: true + execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index a27841f28d..bd8545d9e6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -1,6 +1,82 @@ /**: ros__parameters: avoidance_by_lane_change: - execute_object_num: 1 - execute_object_longitudinal_margin: 0.0 - execute_only_when_lane_change_finish_before_object: true + execute_object_longitudinal_margin: 80.0 + execute_only_when_lane_change_finish_before_object: false + + # avoidance is performed for the object type with true + target_object: + car: + is_target: true # [-] + execute_num: 2 # [-] + moving_speed_threshold: 1.0 # [m/s] + moving_time_threshold: 1.0 # [s] + max_expand_ratio: 0.0 # [-] + envelope_buffer_margin: 0.3 # [m] + avoid_margin_lateral: 0.0 # [m] + safety_buffer_lateral: 0.0 # [m] + truck: + is_target: true + execute_num: 2 + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.0 + bus: + is_target: true + execute_num: 2 + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.0 + trailer: + is_target: true + execute_num: 2 + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.0 + unknown: + is_target: true + execute_num: 1 + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 0.0 + bicycle: + is_target: false + execute_num: 2 + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.8 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 1.0 + motorcycle: + is_target: false + execute_num: 2 + moving_speed_threshold: 1.0 # 3.6km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.8 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 1.0 + pedestrian: + is_target: false + execute_num: 2 + moving_speed_threshold: 0.28 # 1.0km/h + moving_time_threshold: 1.0 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.8 + avoid_margin_lateral: 0.0 + safety_buffer_lateral: 1.0 + lower_distance_for_polygon_expansion: 0.0 # [m] + upper_distance_for_polygon_expansion: 1.0 # [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index d4da549dcd..65582656b9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -67,9 +67,8 @@ priority: 5 max_module_size: 1 - # NOTE: This module is unstable. Deprecated for now. avoidance_by_lc: - enable_module: false + enable_module: true enable_rtc: true enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml index 0aa3cbd49e..9d761b15ee 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -11,6 +11,8 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" + - "avoidance_by_lane_change_left" + - "avoidance_by_lane_change_right" - "goal_planner" - "start_planner" - "intersection_occlusion" @@ -26,6 +28,8 @@ - "lane_change_right" - "avoidance_left" - "avoidance_right" + - "avoidance_by_lane_change_left" + - "avoidance_by_lane_change_right" - "goal_planner" - "start_planner" - "intersection_occlusion"