Skip to content

Commit

Permalink
Merge pull request autowarefoundation#614 from tier4/hotfix/v3.0.0/ch…
Browse files Browse the repository at this point in the history 
…erry-pick-avoidance-pr

fix(avoidance): cherr pick avoidance hotfix PRs
  • Loading branch information
@satoshi-ota
satoshi-ota authored Apr 10, 2024
2 parents 8bcdab7 + 8a93b51 commit 69a6bba
Show file tree
Hide file tree
Showing 4 changed files with 92 additions and 49 deletions.
2 changes: 2 additions & 0 deletions autoware_launch/config/planning/scenario_planning/common/common.param.yaml
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
/**:
ros__parameters:
max_vel: 9.72 # max velocity limit [m/s]

# constraints param for normal driving
normal:
min_acc: -1.0 # min deceleration [m/ss]
Expand Down
1 change: 0 additions & 1 deletion ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
/**:
ros__parameters:
# motion state constraints
max_velocity: 9.72 # max velocity limit [m/s]
stop_decel: 0.0 # deceleration at a stop point[m/ss]

# external velocity limit parameter
Expand Down
90 changes: 58 additions & 32 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,6 @@

# avoidance module common setting
enable_bound_clipping: false
enable_yield_maneuver: true
enable_yield_maneuver_during_shifting: false
enable_cancel_maneuver: true
disable_path_update: false

Expand All @@ -19,6 +17,7 @@
use_opposite_lane: false
use_intersection_areas: true
use_hatched_road_markings: true
use_freespace_areas: true

# for debug
publish_debug_marker: false
Expand All @@ -30,81 +29,97 @@
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
lateral_margin:
soft_margin: 0.2 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
avoid_margin_lateral: 1.0 # [m]
safety_buffer_lateral: 0.1 # [m]
envelope_buffer_margin: 0.1 # [m]
safety_buffer_longitudinal: 0.0 # [m]
use_conservative_buffer_longitudinal: false # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
truck:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.2 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.4
envelope_buffer_margin: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: false
bus:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.2 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.8
envelope_buffer_margin: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: false
trailer:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.2 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.8
envelope_buffer_margin: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: false
unknown:
is_target: false
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 1.0 # [m]
hard_margin: 0.7 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: false
bicycle:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: false
motorcycle:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: false
pedestrian:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: false
lower_distance_for_polygon_expansion: 30.0 # [m]
Expand All @@ -124,6 +139,7 @@
pedestrian: true # [-]
# detection range
object_check_goal_distance: 0.0 # [m]
object_check_return_pose_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 0.5 # [m]
object_check_shiftable_ratio: 0.6 # [-]
Expand All @@ -139,9 +155,12 @@
backward_distance: 10.0 # [m]

# params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
force_avoidance:
avoidance_for_ambiguous_vehicle:
enable: false # [-]
time_threshold: 1.0 # [s]
closest_distance_to_wait_and_see: 10.0 # [m]
condition:
time_threshold: 3.0 # [s]
distance_threshold: 1.0 # [m]
ignore_area:
traffic_light:
front_distance: 100.0 # [m]
Expand Down Expand Up @@ -185,6 +204,7 @@
time_horizon_for_rear_object: 10.0 # [s]
delay_until_departure: 0.0 # [s]
# rss parameters
extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path"
expected_front_deceleration: -1.0 # [m/ss]
expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
Expand All @@ -205,11 +225,15 @@
max_right_shift_length: 5.0
max_left_shift_length: 5.0
max_deviation_from_lane: 0.5 # [m]
# approve the next shift line after reaching this percentage of the current shift line length.
# this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
# this feature can be disabled by setting this parameter to 0.0.
ratio_for_return_shift_approval: 0.5 # [-]
# avoidance distance parameters
longitudinal:
min_prepare_time: 1.0 # [s]
max_prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
min_prepare_distance: 4.0 # [m]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s]
nominal_avoidance_speed: 8.33 # [m/s]
Expand All @@ -224,7 +248,8 @@

# For yield maneuver
yield:
yield_velocity: 2.78 # [m/s]
enable: true # [-]
enable_during_shifting: false # [-]

# For stop maneuver
stop:
Expand All @@ -241,31 +266,32 @@
# but there is a possibility that the vehicle can't stop in front of the vehicle.
# "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
# make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
deceleration: "best_effort" # [-]
deceleration: "reliable" # [-]
# policy for avoidance lateral margin. select "best_effort" or "reliable".
# "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
# margin to avoid.
# "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid
# with expected lateral margin.
lateral_margin: "best_effort" # [-]
# if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.
use_shorten_margin_immediately: true # [-]
use_shorten_margin_immediately: false # [-]

constraints:
# lateral constraints
lateral:
velocity: [1.0, 1.38, 11.1] # [m/s]
velocity: [2.78, 8.33, 11.1] # [m/s]
max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
min_jerk_values: [0.1, 0.1, 0.2] # [m/sss]
max_jerk_values: [0.2, 0.2, 1.0] # [m/sss]
min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
max_jerk_values: [0.5, 1.0, 1.0] # [m/sss]

# longitudinal constraints
longitudinal:
nominal_deceleration: -1.0 # [m/ss]
nominal_jerk: 0.5 # [m/sss]
max_deceleration: -1.5 # [m/ss]
max_jerk: 1.0 # [m/sss]
max_acceleration: 1.0 # [m/ss]
max_acceleration: 0.3 # [m/ss]
min_velocity_to_limit_max_acceleration: 2.78 # [m/ss]

shift_line_pipeline:
trim:
Expand Down
48 changes: 32 additions & 16 deletions ...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,64 +12,80 @@
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]
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
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
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]

Expand Down

0 comments on commit 69a6bba

Please sign in to comment.