From cb55e835b29c54030c45c7647f3948574fd7975b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 13 Sep 2023 00:45:18 +0900 Subject: [PATCH 01/30] feat(goal_planner): use only static objects in pull over lanes to path generation (#562) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 1bfe689c55..c1fd848857 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -32,6 +32,7 @@ use_object_recognition: true object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 + th_moving_object_velocity: 1.0 # pull over pull_over: From 7f675e21bcf486c8d2e5d2007a6b2378ddca4a6b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:08:52 +0900 Subject: [PATCH 02/30] chore(localization_error_monitor): update default parameter (#565) Signed-off-by: kminoda --- .../config/localization/localization_error_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml index 026daf0532..2aa28014ea 100644 --- a/autoware_launch/config/localization/localization_error_monitor.param.yaml +++ b/autoware_launch/config/localization/localization_error_monitor.param.yaml @@ -4,4 +4,4 @@ error_ellipse_size: 1.0 warn_ellipse_size: 0.8 error_ellipse_size_lateral_direction: 0.3 - warn_ellipse_size_lateral_direction: 0.2 + warn_ellipse_size_lateral_direction: 0.25 From 405e5fbe3a21446d57959faf01b76432a79a3743 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 13 Sep 2023 16:09:15 +0900 Subject: [PATCH 03/30] feat(tier4_system_rviz_plugin): add package (#564) * feat(tier4_system_rviz_plugin): add package Signed-off-by: kminoda * fix Signed-off-by: kminoda --------- Signed-off-by: kminoda --- autoware_launch/rviz/autoware.rviz | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 0013fc36ca..00e924da39 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -319,6 +319,22 @@ Visualization Manager: Value: true Enabled: true Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 Enabled: true Name: System - Class: rviz_common/Group From a576ad2ca3f77e3fd179f8d80fa295608bbd6f5f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 14 Sep 2023 16:56:05 +0900 Subject: [PATCH 04/30] feat(goal_planner): add options of occupancy grid map to use only for goal search (#563) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index c1fd848857..f298406792 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -21,8 +21,9 @@ # occupancy grid map occupancy_grid: - use_occupancy_grid: true - use_occupancy_grid_for_longitudinal_margin: false + use_occupancy_grid_for_goal_search: true + use_occupancy_grid_for_goal_longitudinal_margin: false + use_occupancy_grid_for_path_collision_check: false occupancy_grid_collision_check_margin: 0.0 theta_size: 360 obstacle_threshold: 60 From 79af6a9e34939c3ed28b58b76a791b3ac164495e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 16 Sep 2023 18:17:57 +0900 Subject: [PATCH 05/30] fix(behavior_path_planner): define hysteresis_factor_expand_rate (#569) * hysteresis_factor_expand_rate Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix * add hysteresis_factor_expand_rate in SafetyCheckParams Signed-off-by: kyoichi-sugahara * delete setting files Signed-off-by: kyoichi-sugahara * revert unnecessary change Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index f298406792..da42efc7f9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -162,6 +162,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon with the value + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index b62262423f..586676fbbb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -129,6 +129,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 From 9256a1322f233883c92ba36c09f03c38ceedf291 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 16:28:12 +0900 Subject: [PATCH 06/30] feat(behavior_path_planner): update start_goal_planner's parameter (#571) update start_goal_planner's parameter Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 7 ++++--- .../start_planner/start_planner.param.yaml | 7 ++++--- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index da42efc7f9..c4d1b7bb1b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -112,12 +112,13 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: + min_velocity: 0.0 acceleration: 1.0 - time_horizon: 10.0 + max_velocity: 1.0 + time_horizon_for_front_object: 10.0 + time_horizon_for_rear_object: 10.0 time_resolution: 0.5 - min_slow_speed: 0.0 delay_until_departure: 1.0 - target_velocity: 1.0 # For target object filtering target_filtering: safety_check_time_horizon: 5.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 586676fbbb..492bf1ddca 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -79,12 +79,13 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: + min_velocity: 0.0 acceleration: 1.0 - time_horizon: 10.0 + max_velocity: 1.0 + time_horizon_for_front_object: 10.0 + time_horizon_for_rear_object: 10.0 time_resolution: 0.5 - min_slow_speed: 0.0 delay_until_departure: 1.0 - target_velocity: 1.0 # For target object filtering target_filtering: safety_check_time_horizon: 5.0 From 17f9cea1334afba763133286752d7c3aa95c6acd Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 21:19:39 +0900 Subject: [PATCH 07/30] fix(behavior_path_planner): change safety check default disable (#572) * change safety check default disable Signed-off-by: kyoichi-sugahara * add warning message Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index c4d1b7bb1b..94ae9fa6d9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -153,7 +153,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled # collision check parameters check_all_predicted_path: true publish_debug_marker: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 492bf1ddca..e12a1a3519 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -120,7 +120,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled # collision check parameters check_all_predicted_path: true publish_debug_marker: false From c085625ae13afd850fe401c0603f6cf9c6c36904 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 18 Sep 2023 21:19:53 +0900 Subject: [PATCH 08/30] feat(behavior_path_planner): set param ignore_object_velocity_threshold (#573) set param ignore_object_velocity_threshold Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 94ae9fa6d9..0c11077ea6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -126,7 +126,7 @@ # detection range object_check_forward_distance: 10.0 object_check_backward_distance: 100.0 - ignore_object_velocity_threshold: 0.0 + ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck object_types_to_check: check_car: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index e12a1a3519..4fa1c09958 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -93,7 +93,7 @@ # detection range object_check_forward_distance: 10.0 object_check_backward_distance: 100.0 - ignore_object_velocity_threshold: 0.0 + ignore_object_velocity_threshold: 1.0 # ObjectTypesToCheck object_types_to_check: check_car: true From 34e4ac35bde3cf2dbec366f9b4f02e6837277ebf Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 19 Sep 2023 09:38:37 +0900 Subject: [PATCH 09/30] refactor(perception): rearrange clustering pipeline parameters (#567) * fix: use downsample before compare map Signed-off-by: badai-nguyen * fix: remove downsample after compare map Signed-off-by: badai-nguyen * fix: add low range crop filter param Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../clustering/compare_map.param.yaml | 20 ------------------- .../detection/clustering/outlier.param.yaml | 8 -------- .../clustering/voxel_grid.param.yaml | 7 ------- ...el_grid_based_euclidean_cluster.param.yaml | 14 +++++++------ .../pointcloud_map_filter.param.yaml | 2 -- .../tier4_perception_component.launch.xml | 5 ----- 6 files changed, 8 insertions(+), 48 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml deleted file mode 100644 index 3dd303464a..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml +++ /dev/null @@ -1,20 +0,0 @@ -/**: - ros__parameters: - - # distance threshold for compare compare - distance_threshold: 0.5 - - # publish voxelized map pointcloud for debug - publish_debug_pcd: False - - # use dynamic map loading - use_dynamic_map_loading: True - - # time interval to check dynamic map loading - timer_interval_ms: 100 - - # distance threshold for dynamic map update - map_update_distance_threshold: 10.0 - - # radius map for dynamic map loading - map_loader_radius: 150.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml deleted file mode 100644 index 1962fba1f3..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.3 - voxel_size_y: 0.3 - voxel_size_z: 100.0 - voxel_points_threshold: 3 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml deleted file mode 100644 index 3ff32bfbb7..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.15 - voxel_size_y: 0.15 - voxel_size_z: 0.15 diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 2f3de2b789..26b027f007 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -7,9 +7,11 @@ max_cluster_size: 3000 use_height: false input_frame: "base_link" - max_x: 70.0 - min_x: -70.0 - max_y: 70.0 - min_y: -70.0 - max_z: 4.5 - min_z: -4.5 + + # low height crop box filter param + max_x: 200.0 + min_x: -200.0 + max_y: 200.0 + min_y: -200.0 + max_z: 2.0 + min_z: -10.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 0423217582..62b3074c15 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -1,7 +1,5 @@ /**: ros__parameters: - # use downsample filter before compare map - use_down_sample_filter: False # voxel size for downsample filter down_sample_voxel_size: 0.1 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index cf5b2dd98c..3b133bdf0f 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -21,16 +21,11 @@ - - Date: Tue, 19 Sep 2023 12:11:33 +0900 Subject: [PATCH 10/30] fix(autoware_launch): add radar lanelet filter parameter (#566) Signed-off-by: scepter914 --- .../object_filter/radar_lanelet_filter.param.yaml | 11 +++++++++++ .../components/tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 15 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml new file mode 100644 index 0000000000..62051e1c5e --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : true + TRUCK : true + BUS : true + TRAILER : true + MOTORCYCLE : true + BICYCLE : true + PEDESTRIAN : true diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3b133bdf0f..10da418468 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -58,6 +58,10 @@ name="object_recognition_detection_object_merger_distance_threshold_list_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml" /> + Date: Wed, 20 Sep 2023 11:34:52 +0900 Subject: [PATCH 11/30] feat(ekf_lolicazer): add diagnostics parameters (#554) * feat(ekf_lolicazer): add diagnostics parameters Signed-off-by: yamato-ando * remote param Signed-off-by: yamato-ando --------- Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../config/localization/ekf_localizer.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4d3f5b9643..8b24b79e71 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -21,3 +21,9 @@ proc_stddev_yaw_c: 0.005 proc_stddev_vx_c: 10.0 proc_stddev_wz_c: 5.0 + + # for diagnostics + pose_no_update_count_threshold_warn: 50 + pose_no_update_count_threshold_error: 250 + twist_no_update_count_threshold_warn: 50 + twist_no_update_count_threshold_error: 250 From eadccd51de84f142bdfd3bd5214a23d958190d45 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 20 Sep 2023 16:23:18 +0900 Subject: [PATCH 12/30] feat(ekf_localizer): ignore dead band of velocity sensor (#574) * feat(ekf_localizer): ignore dead band of velocity sensor Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/config/localization/ekf_localizer.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 8b24b79e71..667217d259 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -27,3 +27,6 @@ pose_no_update_count_threshold_error: 250 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 250 + + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s] From f584821fe617b2ec0fc9b4024ff0db9449f65fe4 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Wed, 20 Sep 2023 13:00:06 +0300 Subject: [PATCH 13/30] feat(perception): add data_path argument to launch file (#577) * feat(perception): add data_path argument to launch file Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/launch/autoware.launch.xml | 5 ++++- .../launch/components/tier4_perception_component.launch.xml | 6 ++++-- autoware_launch/launch/e2e_simulator.launch.xml | 2 ++ autoware_launch/launch/logging_simulator.launch.xml | 1 + autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 5 files changed, 13 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 1a4fbb70f4..afb65c669d 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -6,6 +6,7 @@ + @@ -89,7 +90,9 @@ - + + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 10da418468..342396934c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -8,6 +8,7 @@ default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)" /> + @@ -19,6 +20,7 @@ + - + - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 9ce8a421e9..5db03b94a9 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -4,6 +4,7 @@ + @@ -36,6 +37,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 6621c15ea3..7eb13135d3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -5,6 +5,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 0a97454854..fdc86ebba7 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -4,6 +4,7 @@ + @@ -37,6 +38,7 @@ + From 86aa396e604f93e0301b68ca495c8172bf7502a1 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 21 Sep 2023 14:13:09 +0900 Subject: [PATCH 14/30] feat(vehicle_cmd_gate): add steering angle and rate filter (#576) Signed-off-by: Takamasa Horibe --- .../control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 92844c61f6..191e894622 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -15,6 +15,8 @@ nominal: vel_lim: 25.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [5.0, 4.0] lon_jerk_lim: [5.0, 4.0] lat_acc_lim: [5.0, 4.0] @@ -23,6 +25,8 @@ on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [1.0, 0.9] lon_jerk_lim: [0.5, 0.4] lat_acc_lim: [2.0, 1.8] From b5e61161467e8ac39ebf69edc806229fd00fca73 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 21 Sep 2023 14:36:40 +0900 Subject: [PATCH 15/30] feat: prevent start planner execution in the middle of the road (#579) * start planner:new param: dist th to middle of road Signed-off-by: Daniel Sanchez * refactor param order Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 4fa1c09958..ee0edd21c9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,7 @@ collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 + th_distance_to_middle_of_the_road: 0.1 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false From 484b7eabc3d84b9e7aa6dcc35f3d159d068d2cfd Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Fri, 22 Sep 2023 16:07:03 +0900 Subject: [PATCH 16/30] refactor(ndt_scan_matcher): match ndt_scan_matcher.param.yaml (#583) * Added ndt_base_link parameter in ndt_scan_matcher.param.yaml Deleted neighborhood_search_mathod paramter in ndt_scan_matcher.param.yaml Signed-off-by: TaikiYamada4 * Copy-pasted the ndt_scan_matcher.param.yaml from universe Signed-off-by: TaikiYamada4 * Correct spelling Signed-off-by: TaikiYamada4 --------- Signed-off-by: TaikiYamada4 --- .../config/localization/ndt_scan_matcher.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 3a99927b41..2785938d5e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -6,6 +6,9 @@ # Vehicle reference frame base_frame: "base_link" + # NDT reference frame + ndt_base_frame: "ndt_base_link" + # Subscriber queue size input_sensor_points_queue_size: 1 @@ -46,10 +49,6 @@ # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 - # neighborhood search method - # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 - neighborhood_search_method: 0 - # Number of threads used for parallel computing num_threads: 4 @@ -80,6 +79,7 @@ # Radius of input LiDAR range (used for diagnostics of dynamic map loading) lidar_radius: 100.0 + # cspell: ignore degrounded # A flag for using scan matching score based on de-grounded LiDAR scan estimate_scores_for_degrounded_scan: false From b7dc59efc310ea0b637492dda8df8db9a59902ae Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 22 Sep 2023 16:39:41 +0900 Subject: [PATCH 17/30] feat(planning_launch): add config for regulate lane change (#582) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 372ed9041c..7e58a27e28 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -62,6 +62,11 @@ check_objects_on_other_lanes: true use_all_predicted_path: true + # lane change regulations + regulation: + crosswalk: false + intersection: false + # lane change cancel cancel: enable_on_prepare_phase: true From 6e1174a405888b5242617aa02c6620fdf20b0dcd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 22 Sep 2023 17:16:46 +0900 Subject: [PATCH 18/30] fix(motion_velocity_smoother): change curvature calculation distance parameter (#556) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) 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 868b1bd15c..1fc5d3d670 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 @@ -7,12 +7,19 @@ # external velocity limit parameter margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] - # curve parameters + # -- curve parameters -- + # common parameters + curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + # lateral acceleration limit parameters max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] + # steering angle rate limit parameters + max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + resample_ds: 0.1 # distance between trajectory points [m] + curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] @@ -48,11 +55,7 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] - # steering angle rate limit parameters - max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] - resample_ds: 0.1 # distance between trajectory points [m] - curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] - curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m] + # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point From 76a3f658add1e040c7872648385a5283a4ff0be7 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sun, 24 Sep 2023 18:07:05 +0900 Subject: [PATCH 19/30] fix(start/goal_planner): resample path and make params (#586) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 0c11077ea6..70dd904863 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -5,6 +5,7 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. + center_line_path_interval: 1.0 # goal search goal_search: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index ee0edd21c9..352a0bf350 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -8,6 +8,7 @@ collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.1 + center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false From 7dbcf0a450f15796f35b21b883aac0a016f0cda0 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 25 Sep 2023 09:47:41 +0900 Subject: [PATCH 20/30] chore(motion_velocity_smoother): add enable curve filtering param (#580) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 1fc5d3d670..235c76a5c1 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 @@ -11,12 +11,14 @@ # common parameters curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters + enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] # steering angle rate limit parameters + enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] @@ -55,8 +57,6 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] - - # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point From 49e260eb19397ff0eda99b22b445ecb514d4f9b2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 10:49:56 +0900 Subject: [PATCH 21/30] feat(autoware_launch): add check_footprint_inside_lanes in mission_planner (#589) Signed-off-by: Takayuki Murooka --- .../mission_planning/mission_planner/mission_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml index 98c28344ea..9b7dcffbc6 100644 --- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -9,3 +9,4 @@ reroute_time_threshold: 10.0 minimum_reroute_length: 30.0 consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. + check_footprint_inside_lanes: true From 34b006265a453a0ed094ed60fe52efe4cb0431e3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 10:53:45 +0900 Subject: [PATCH 22/30] feat(autoware_launch): add stop_distance_threshold in merge_from_private (#587) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 00df2e2ced..def2335e20 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -56,3 +56,4 @@ merge_from_private: stop_line_margin: 3.0 stop_duration_sec: 1.0 + stop_distance_threshold: 1.0 From 36820f2547187aabe727d6624ce04adb5b715388 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 14:04:52 +0900 Subject: [PATCH 23/30] feat(autoware_launch): add traffic protected level for amber color in intersection (#588) * feat(autoware_launch): add traffic protected level for amber color in intersection Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index def2335e20..5b626ec19d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -24,12 +24,15 @@ state_transit_margin_time: 1.0 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] - normal: - collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object - relaxed: + fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 + partially_prioritized: + collision_start_margin_time: 2.0 + collision_end_margin_time: 2.0 + not_prioritized: + collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr occlusion: From f4ed3ba8d97affb76b11fa38044238ac21af6b51 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 25 Sep 2023 16:23:49 +0900 Subject: [PATCH 24/30] feat(obstacle_cruise_planner): add parameters for a new feature (#581) * feat: add parameters for the feature "cosider-current-ego-pose" Signed-off-by: Yuki Takagi * set the params to be merged. use stop planner as cruise planner type (conventional setting) polygon expansion in obstacle_cruise_planner is true Signed-off-by: Yuki Takagi --------- Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index aadd0ccd02..cb4d6a68c5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -106,6 +106,13 @@ successive_num_to_entry_slow_down_condition: 5 successive_num_to_exit_slow_down_condition: 5 + # consider the current ego pose (it is not the nearest pose on the reference trajectory) + # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" + # The both errors decrease with constant rates against the time. + consider_current_pose: + enable_to_consider_current_pose: true + time_to_convergence: 1.5 #[s] + cruise: pid_based_planner: use_velocity_limit_based_planner: true From 50175784389ea1d3bb4fc31269d363a5ddbb5d21 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 25 Sep 2023 23:31:33 +0900 Subject: [PATCH 25/30] feat(intersection): ensure-temporal-stop-before-upcoming-lane (#578) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 5b626ec19d..a932254140 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -51,6 +51,7 @@ possible_object_bbox: [1.5, 2.5] # [m x m] ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h stop_release_margin_time: 1.5 # [s] + temporal_stop_before_attention_area: false enable_rtc: intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval From 5b7e16cc0c34159202b5ce6e29bcad6212a9d02b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 26 Sep 2023 12:15:09 +0900 Subject: [PATCH 26/30] feat(goal_planner): sort goal candidates priority by weighted distance (#591) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 70dd904863..e1108d56c9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -9,7 +9,10 @@ # goal search goal_search: - search_priority: "efficient_path" # "efficient_path" or "close_goal" + goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" + minimum_weighted_distance: + lateral_weight: 40.0 + path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 20.0 backward_goal_search_length: 20.0 From 45f7e581cbc17cdf82737c2c12cd5e7576c90773 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 26 Sep 2023 15:19:07 +0900 Subject: [PATCH 27/30] feat(lane_change): enable lane change in crosswalk/intersection if ego vehicle gets stuck (#590) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 7e58a27e28..1accb1f709 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -67,6 +67,11 @@ crosswalk: false intersection: false + # ego vehicle stuck detection + stuck_detection: + velocity: 0.1 # [m/s] + stop_time: 3.0 # [s] + # lane change cancel cancel: enable_on_prepare_phase: true From bf07c8aeb6bb1aa42f0e3e6db2eb5e39cdc5377e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Muhammed=20Yavuz=20K=C3=B6seo=C4=9Flu?= Date: Tue, 26 Sep 2023 10:59:29 +0300 Subject: [PATCH 28/30] feat(ndt_scan_matcher): adding exe time parameter (#559) add critical_upper_bound_exe_time_ms for ndt --- .../config/localization/ndt_scan_matcher.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 2785938d5e..4a22059bda 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -85,3 +85,6 @@ # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 + + # The execution time which means probably NDT cannot matches scans properly + critical_upper_bound_exe_time_ms: 100 # [ms] From 4dd0acab6cd58353bbed3c0ae46415c46b19c833 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 26 Sep 2023 18:45:00 +0900 Subject: [PATCH 29/30] feat(autoware_launch): move dynamic_avoidance last (#593) Signed-off-by: Takayuki Murooka --- .../scene_module_manager.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index a3c0194d03..ff4b486ef9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -9,7 +9,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 7 + priority: 6 max_module_size: 1 external_request_lane_change_right: @@ -18,7 +18,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 7 + priority: 6 max_module_size: 1 lane_change_left: @@ -27,7 +27,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 6 + priority: 5 max_module_size: 1 lane_change_right: @@ -36,7 +36,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true keep_last: false - priority: 6 + priority: 5 max_module_size: 1 start_planner: @@ -72,7 +72,7 @@ enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 5 + priority: 4 max_module_size: 1 avoidance_by_lc: @@ -81,7 +81,7 @@ enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false keep_last: false - priority: 4 + priority: 3 max_module_size: 1 dynamic_avoidance: @@ -89,6 +89,6 @@ enable_rtc: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 3 + keep_last: true + priority: 7 max_module_size: 1 From 97d8d601e03a6f93f68dab8e8ed01afb0a6fee2b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 26 Sep 2023 22:34:57 +0900 Subject: [PATCH 30/30] feat: add system monitor param file for awsim (#568) * feat: add system monitor param file for awsim Signed-off-by: tomoya.kimura * feat: use system_error_monitor.awsim.param in e2e_simulator.launch Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../system_error_monitor.awsim.param.yaml | 52 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 1 + .../tier4_system_component.launch.xml | 4 +- .../launch/e2e_simulator.launch.xml | 6 +++ 4 files changed, 62 insertions(+), 1 deletion(-) create mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml new file mode 100644 index 0000000000..2f98f9d0e2 --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -0,0 +1,52 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + /autoware/control/autonomous_driving/node_alive_monitoring: default + /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/control_command_gate/node_alive_monitoring: default + + /autoware/localization/node_alive_monitoring: default + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/map/node_alive_monitoring: default + + /autoware/perception/node_alive_monitoring: default + + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default + + # /autoware/sensing/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default + + external_control: + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index afb65c669d..5d98c9388f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -33,6 +33,7 @@ + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 3cfc6d8541..1bd74ccbbf 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,5 +1,7 @@ + + @@ -10,7 +12,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 5db03b94a9..fe8d1de1d8 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -27,6 +27,11 @@ + @@ -56,6 +61,7 @@ +