fix(planning): param update for sudden stop #1345
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takayuki5168
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Mar 6, 2025
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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This reverts commit c97fd62.
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Mar 11, 2025
fix for x1 Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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fix(planning): param update for sudden stop (autowarefoundation#1345)
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* ci: cron weekdays except holidays (#51) * ci: cron week days * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(sync-awf-upstream): fix failing CI (#53) ci: fix unexpected symbol: '=' * ci(sync-awf-upstream): change awf sync time (#56) ci: change awf sync time * chore: sync files (#122) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * ci(dispatch-release-note): trigger by action_repository name (#150) feat(dispatch-release-note): trigger by action_repository name * chore: sync files (#181) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * chore: sync files (#200) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * chore: sync files (#202) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> * chore: update sync upstream script (#236) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: add workflow to merge beta branch to tier4 main (#239) * chore: add workflow to merge beta branch to tier4 main Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix workflow name Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix job name and pr-label Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: fix variable name Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: sync files (#251) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#255) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * feat(start_planner): add surround moving obstacle check (#723) update start_planner.param.yaml Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat: add github workflow of create-awf-latest.yml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(pointpainting): update parameter structure (#778) * fix(pointpainting): update parameter structure Signed-off-by: kminoda <koji.minoda@tier4.jp> * update roi_sync.param.yaml Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(rviz): hide traffic light regulatory element id (#777) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#267) feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (#730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * feat(start_planner): keep distance against front objects (#766) Add collision check margin from front object Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * feat(start_planner): define collision check margin as list (#770) * Update collision check margins in start planner configuration Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix(intersection): fix bugs (#781) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat(multi_object_tracker): fix typo in param name and change default value (#271) feat(multi_object_tracker): fix typo in param name and change default value (#785) * fix(multi_object_tracker): fix typo in param name * feat: update default param --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: add sync-awf-latest.yaml (#272) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: disable auto-merge of sync-awf-latest (#274) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(start_planner): shorten max backward distance (#734) Update start_planner.param.yaml * feat: enable auto-merge in sync-awf-latest.yaml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#291) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#299) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * feat: use tier4/awf-latest for upstream sync Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#315) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: remove unnecessary workflows Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: update CODEOWNERS (#340) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * feat(ci): add sync-tier4-upstream-up-to-tag (#347) * feat(ci): add sync-tier4-upstream-up-to-tag * style(pre-commit): autofix * delete quote --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat: run sync-awf-latest every one hour (#365) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix: cherry-pick necessary changes from tier4/main (#368) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#379) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * fix: add has_variance to pointpainting.param.yaml Signed-off-by: tzhong518 <sworgun@gmail.com> * chore: sync files (#391) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * ci: add comment-on-pr.yaml (#400) * chore: sync files (#427) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * chore: sync files (#440) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * Merge pull request #453 from tier4/feat/disable-aeb-diagnostics-check feat(aeb): disable aeb diagnostics check * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * ci: add sync-beta-upstream (#459) * ci: add sync-beta-upstream Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci: add sync-beta-upstream (#459) * ci: add sync-beta-upstream Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(behavior_path_planner): add yaw threshold param (autowarefoundation#1040) add yaw threshold param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b04604. * refactor(behavior_path_planner): remove unnecessary parameters (autowarefoundation#1172) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * refactor(system_monitor/ntp_monitor): add-missing-parameters (autowarefoundation#1174) refactor: add-missing-parameters Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * refactor(system_monitor/net_monitor): remove-missing-patameters (autowarefoundation#1175) refactor: remove-missing-patameters Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat(emergency_handler): delete package (autowarefoundation#1173) * feat(emergency_handler): delete package Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (autowarefoundation#1144) change the way to declare camera num Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * fix(perception): adopt awsim (tlr) camera topic (autowarefoundation#1177) Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * feat(system_error_monitor): delete system error monitor (autowarefoundation#1178) feat: delete system error monitor Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat(system_monitor): disable traffic monitor Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> * fix Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * Merge pull request #734 from tier4/feat/traffic_light-v2i feat(traffic_light_module): add v2i to behavior_velocity_traffic_light * feat(rviz): update autoware.rviz for motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1314) * feat: add motion_velocity_obstacle_stop/slow_down/cruise_module Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update autoware.rviz Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update rviz Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * disable obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update motion velocity planner params Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add module.param.yaml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * enable obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat: use motion_velocity_obstacle_<stop/slow_down/cruise>_module (autowarefoundation#1315) Revert "enable obstacle_cruise_planner" This reverts commit cbd6873. * Added pr-label "run:build-and-test-differential" Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * feat(behavior_planning): add behavior_path_planner_type to launch path_generator (autowarefoundation#1342) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(path_generator): add parameters (autowarefoundation#1343) * feat(path_generator): add parameters (see below) * This fix is for the following PR: autowarefoundation/autoware_core#227 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix(planning): param update for sudden stop (autowarefoundation#1345) fix for x1 Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * fix(sync-files): remove backport.yaml from source Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * chore: sync files (#448) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> --------- Signed-off-by: GitHub <noreply@github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: tzhong518 <sworgun@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> Signed-off-by: Hayato Mizushima <hayato-m126@users.noreply.github.com> Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: tzhong518 <sworgun@gmail.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Co-authored-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: takeshi.iwanari <take.iwiw2222@gmail.com> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Co-authored-by: SakodaShintaro <rgbygscrsedppbwg@gmail.com> Co-authored-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: Junya Sasaki <j2sasaki1990@gmail.com> Co-authored-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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Description
Without this PR, the stop position by the obstacle_stop_module moves forward when the ego cannot stop before the stop position due to the control error, etc.
In the simulation test and real experiment, there were some cases where the ego cannot decelerate well, and the ego got very close to the front object. To reduce this risk, this PR disables the flag.
How was this PR tested?
Notes for reviewers
None.
Effects on system behavior
None.