From 5c32222d0fbe29c3983a12fd7b3b16fd75cb4f12 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Wed, 4 Jan 2023 18:05:13 +0900 Subject: [PATCH 1/5] Update configuration for new drivable area expansion function Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.param.yaml | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 29d577a7ad..81ade9cbd9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + # Static expansion avoidance: drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 @@ -24,3 +25,25 @@ drivable_area_right_bound_offset: 0.0 drivable_area_left_bound_offset: 0.0 drivable_area_types_to_skip: [road_border] + + # Dynamic expansion by projecting the ego footprint along the path + dynamic_expansion: + enabled: true + ego: + extra_footprint_offset: + front: 5.5 # [m] extra length to add to the front of the ego footprint + rear: 0.5 # [m] extra length to add to the rear of the ego footprint + left: 0.5 # [m] extra length to add to the left of the ego footprint + right: 0.5 # [m] extra length to add to the rear of the ego footprint + dynamic_objects: + avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects + extra_footprint_offset: + front: 0.5 # [m] extra length to add to the front of the ego footprint + rear: 0.5 # [m] extra length to add to the rear of the ego footprint + left: 0.5 # [m] extra length to add to the left of the ego footprint + right: 0.5 # [m] extra length to add to the rear of the ego footprint + max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended + avoid_linestring_types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area + - guard_rail + - road_border + avoid_linestring_distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid From e1f029b4e652aed77698845513f6c631b9216bad Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 13 Jan 2023 22:34:32 +0900 Subject: [PATCH 2/5] Add params for compensation Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.param.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 81ade9cbd9..c7934902f5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -31,7 +31,7 @@ enabled: true ego: extra_footprint_offset: - front: 5.5 # [m] extra length to add to the front of the ego footprint + front: 0.5 # [m] extra length to add to the front of the ego footprint rear: 0.5 # [m] extra length to add to the rear of the ego footprint left: 0.5 # [m] extra length to add to the left of the ego footprint right: 0.5 # [m] extra length to add to the rear of the ego footprint @@ -42,8 +42,12 @@ rear: 0.5 # [m] extra length to add to the rear of the ego footprint left: 0.5 # [m] extra length to add to the left of the ego footprint right: 0.5 # [m] extra length to add to the rear of the ego footprint + min_distance: 0.0 # [m] minimum distance by which the drivable area can be expended max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended avoid_linestring_types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - guard_rail - road_border avoid_linestring_distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid + extra_arc_length: 0.5 # [m] extra expansion arc length around the ego footprint + compensate_uncrossable_lines: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction + extra_compensate_distance: 0.0 # [m] extra distance to add when compensating the expansion From ea55ceb2722054b9cf60f63df5c90973913f9166 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Wed, 8 Feb 2023 01:02:00 +0900 Subject: [PATCH 3/5] Restructure parameters + method param (lanelet or polygon) Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.param.yaml | 23 +++++++++++-------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index c7934902f5..a821242f72 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -42,12 +42,17 @@ rear: 0.5 # [m] extra length to add to the rear of the ego footprint left: 0.5 # [m] extra length to add to the left of the ego footprint right: 0.5 # [m] extra length to add to the rear of the ego footprint - min_distance: 0.0 # [m] minimum distance by which the drivable area can be expended - max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended - avoid_linestring_types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - - guard_rail - - road_border - avoid_linestring_distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid - extra_arc_length: 0.5 # [m] extra expansion arc length around the ego footprint - compensate_uncrossable_lines: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction - extra_compensate_distance: 0.0 # [m] extra distance to add when compensating the expansion + expansion: + method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. + # 'lanelet': add lanelets overlapped by the ego footprints + # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area + max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint + avoid_linestring: + types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area + - guard_rail + - road_border + distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid + compensate: + enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction + extra_distance: 3.0 # [m] extra distance to add to the compensation From 653c9820c94e44a3e7000c835a05ba6acf93845a Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Thu, 9 Feb 2023 12:22:46 +0900 Subject: [PATCH 4/5] Add max_path_arc_length param Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.param.yaml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index a821242f72..91145f6554 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -38,15 +38,16 @@ dynamic_objects: avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects extra_footprint_offset: - front: 0.5 # [m] extra length to add to the front of the ego footprint - rear: 0.5 # [m] extra length to add to the rear of the ego footprint - left: 0.5 # [m] extra length to add to the left of the ego footprint - right: 0.5 # [m] extra length to add to the rear of the ego footprint + front: 0.5 # [m] extra length to add to the front of the dynamic object footprint + rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint + left: 0.5 # [m] extra length to add to the left of the dynamic object footprint + right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint expansion: method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. # 'lanelet': add lanelets overlapped by the ego footprints # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit) extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area From 463bfdce0cb01cb75367c80a7cfdb69b6d0fbc67 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Thu, 9 Feb 2023 17:13:40 +0900 Subject: [PATCH 5/5] Update default config Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 91145f6554..902a93ce6d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -28,7 +28,7 @@ # Dynamic expansion by projecting the ego footprint along the path dynamic_expansion: - enabled: true + enabled: false ego: extra_footprint_offset: front: 0.5 # [m] extra length to add to the front of the ego footprint @@ -43,7 +43,7 @@ left: 0.5 # [m] extra length to add to the left of the dynamic object footprint right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint expansion: - method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. + method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'. # 'lanelet': add lanelets overlapped by the ego footprints # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) @@ -51,7 +51,6 @@ extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint avoid_linestring: types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area - - guard_rail - road_border distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid compensate: