From 0e1ce8a00fc0bab6b3ea09c78788a082100f64e4 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 29 Feb 2024 16:26:41 +0900 Subject: [PATCH 1/8] enable to avoid against moving ped Signed-off-by: Yuki Takagi --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++-- 1 file changed, 2 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 0a563498be..715ce6b1da 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 @@ -12,9 +12,9 @@ bus: true trailer: true unknown: false - bicycle: false + bicycle: true motorcycle: true - pedestrian: false + pedestrian: true max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] From f7d221d094a628bcd49a7efd341f59b2328ed6f7 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Tue, 5 Mar 2024 14:24:02 +0900 Subject: [PATCH 2/8] debug Signed-off-by: Yuki Takagi --- autoware_launch/config/planning/preset/default_preset.yaml | 4 ++-- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 674b3e07e7..fabbbb66d4 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -5,7 +5,7 @@ launch: default: "true" - arg: name: launch_avoidance_by_lane_change_module - default: "true" + default: "true" #? - arg: name: launch_dynamic_avoidance_module default: "false" @@ -70,7 +70,7 @@ launch: default: "false" - arg: name: launch_run_out_module - default: "true" + default: "false" - arg: name: launch_speed_bump_module default: "false" 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 715ce6b1da..1030a3cd4c 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 @@ -2,7 +2,7 @@ ros__parameters: dynamic_avoidance: common: - enable_debug_info: false + enable_debug_info: true use_hatched_road_markings: true # avoidance is performed for the object type with true @@ -19,8 +19,8 @@ max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] - successive_num_to_entry_dynamic_avoidance_condition: 5 - successive_num_to_exit_dynamic_avoidance_condition: 1 + successive_num_to_entry_dynamic_avoidance_condition: 1 + successive_num_to_exit_dynamic_avoidance_condition: 0 min_obj_lat_offset_to_ego_path: 0.0 # [m] max_obj_lat_offset_to_ego_path: 1.0 # [m] From a9e984ab1e229b8ddedba669dcabdfd68673337b Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 6 Mar 2024 14:18:50 +0900 Subject: [PATCH 3/8] disable debug Signed-off-by: Yuki Takagi --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index fabbbb66d4..50b5713ac8 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -70,7 +70,7 @@ launch: default: "false" - arg: name: launch_run_out_module - default: "false" + default: "true" - arg: name: launch_speed_bump_module default: "false" 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 1030a3cd4c..715ce6b1da 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 @@ -2,7 +2,7 @@ ros__parameters: dynamic_avoidance: common: - enable_debug_info: true + enable_debug_info: false use_hatched_road_markings: true # avoidance is performed for the object type with true @@ -19,8 +19,8 @@ max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] - successive_num_to_entry_dynamic_avoidance_condition: 1 - successive_num_to_exit_dynamic_avoidance_condition: 0 + successive_num_to_entry_dynamic_avoidance_condition: 5 + successive_num_to_exit_dynamic_avoidance_condition: 1 min_obj_lat_offset_to_ego_path: 0.0 # [m] max_obj_lat_offset_to_ego_path: 1.0 # [m] From 0e2fd3bb9aa0ec564b9172443cdafbae771ffde6 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 1 Apr 2024 14:19:04 +0900 Subject: [PATCH 4/8] add params Signed-off-by: Yuki Takagi --- .../planning/preset/default_preset.yaml | 2 +- .../dynamic_avoidance.param.yaml | 23 +++++++++++-------- 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 50b5713ac8..674b3e07e7 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -5,7 +5,7 @@ launch: default: "true" - arg: name: launch_avoidance_by_lane_change_module - default: "true" #? + default: "true" - arg: name: launch_dynamic_avoidance_module default: "false" 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 715ce6b1da..ceaf1133bc 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 @@ -40,11 +40,12 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 + max_pedestrians_crossing_vel: 1.5 front_object: max_object_angle: 0.785 - min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. - max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. + min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. stopped_object: max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. @@ -55,23 +56,27 @@ min_longitudinal_polygon_margin: 3.0 # [m] lat_offset_from_obstacle: 1.0 # [m] + margin_distance_around_pedestrian: 2.0 # [m] + predicted_path: + end_time_to_consider: 3.0 # [s] + threshold_confidence: 0.3 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] - max_ego_lat_acc: 0.3 # [m/ss] - max_ego_lat_jerk: 0.3 # [m/sss] - delay_time_ego_shift: 1.0 # [s] + max_ego_lat_acc: 0.3 # [m/ss] + max_ego_lat_jerk: 0.3 # [m/sss] + delay_time_ego_shift: 1.0 # [s] # for same directional object overtaking_object: max_time_to_collision: 40.0 # [s] - start_duration_to_avoid: 1.0 # [s] - end_duration_to_avoid: 1.0 # [s] + start_duration_to_avoid: 1.0 # [s] + end_duration_to_avoid: 1.0 # [s] duration_to_hold_avoidance: 3.0 # [s] # for opposite directional object oncoming_object: max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles - start_duration_to_avoid: 1.0 # [s] - end_duration_to_avoid: 0.0 # [s] + start_duration_to_avoid: 1.0 # [s] + end_duration_to_avoid: 0.0 # [s] From 724b13249806de265dc4b6fce4b340fea597265f Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 3 Apr 2024 20:57:07 +0900 Subject: [PATCH 5/8] avoid ped Signed-off-by: Yuki Takagi --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++-- 1 file changed, 2 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 ceaf1133bc..48b8f09d95 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 @@ -58,8 +58,8 @@ lat_offset_from_obstacle: 1.0 # [m] margin_distance_around_pedestrian: 2.0 # [m] predicted_path: - end_time_to_consider: 3.0 # [s] - threshold_confidence: 0.3 # [] not probability + end_time_to_consider: 2.0 # [s] + threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] From dd5654aeec76365e9ef5799ea9cf27e34c3931e9 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 17 Apr 2024 19:42:15 +0900 Subject: [PATCH 6/8] rename Signed-off-by: Yuki Takagi --- .../dynamic_avoidance.param.yaml | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 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 48b8f09d95..9d6bc868fe 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 @@ -40,12 +40,12 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 - max_pedestrians_crossing_vel: 1.5 + max_pedestrian_crossing_vel: 1.5 front_object: max_object_angle: 0.785 - min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. - max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. + min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value. stopped_object: max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. @@ -64,19 +64,19 @@ max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] - max_ego_lat_acc: 0.3 # [m/ss] - max_ego_lat_jerk: 0.3 # [m/sss] - delay_time_ego_shift: 1.0 # [s] + max_ego_lat_acc: 0.3 # [m/ss] + max_ego_lat_jerk: 0.3 # [m/sss] + delay_time_ego_shift: 1.0 # [s] # for same directional object overtaking_object: max_time_to_collision: 40.0 # [s] - start_duration_to_avoid: 1.0 # [s] - end_duration_to_avoid: 1.0 # [s] + start_duration_to_avoid: 1.0 # [s] + end_duration_to_avoid: 1.0 # [s] duration_to_hold_avoidance: 3.0 # [s] # for opposite directional object oncoming_object: max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles - start_duration_to_avoid: 1.0 # [s] - end_duration_to_avoid: 0.0 # [s] + start_duration_to_avoid: 1.0 # [s] + end_duration_to_avoid: 0.0 # [s] From c133782002dd5a984a450ab006ce14881bc57466 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 19 Apr 2024 14:33:49 +0900 Subject: [PATCH 7/8] change params Signed-off-by: Yuki Takagi --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++-- 1 file changed, 2 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 9d6bc868fe..b2f75608c4 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 @@ -40,7 +40,7 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 - max_pedestrian_crossing_vel: 1.5 + max_pedestrian_crossing_vel: 1.0 front_object: max_object_angle: 0.785 @@ -58,7 +58,7 @@ lat_offset_from_obstacle: 1.0 # [m] margin_distance_around_pedestrian: 2.0 # [m] predicted_path: - end_time_to_consider: 2.0 # [s] + end_time_to_consider: 3.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] From b21bf97108ac49e3e5b9536e92ee45e0c8885a7a Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 19 Apr 2024 16:36:44 +0900 Subject: [PATCH 8/8] change param Signed-off-by: Yuki Takagi --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 b2f75608c4..c1f4646ef7 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 @@ -40,7 +40,7 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 - max_pedestrian_crossing_vel: 1.0 + max_pedestrian_crossing_vel: 0.8 front_object: max_object_angle: 0.785