diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 5fd1a533ab..ac100f0ea3 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -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] diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 96be6b05cb..2c7cf8bab8 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -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 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 67c49a3e88..55b7e9d619 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 @@ -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 @@ -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 @@ -30,40 +29,48 @@ 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: @@ -71,40 +78,48 @@ 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] @@ -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 # [-] @@ -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] @@ -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] @@ -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] @@ -224,7 +248,8 @@ # For yield maneuver yield: - yield_velocity: 2.78 # [m/s] + enable: true # [-] + enable_during_shifting: false # [-] # For stop maneuver stop: @@ -241,7 +266,7 @@ # 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. @@ -249,15 +274,15 @@ # 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: @@ -265,7 +290,8 @@ 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: 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 74c6112c0e..ce0ba25700 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 @@ -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]