From d406a4968001dced29f01c4b940c8114f65db98e Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Thu, 20 Jul 2023 14:26:10 +0300 Subject: [PATCH 1/4] refactor(autoware_launch): add object_merger param files (#464) init commit Signed-off-by: ismetatabay --- .../data_association_matrix.param.yaml | 44 +++++++++++++++++++ .../object_merger/overlapped_judge.param.yaml | 5 +++ .../tier4_perception_component.launch.xml | 8 ++++ 3 files changed, 57 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml new file mode 100644 index 0000000000..e1bf2c67b3 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml @@ -0,0 +1,44 @@ +/**: + ros__parameters: + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + 0, 1, 1, 1, 1, 0, 0, 0, #CAR + 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK + 0, 1, 1, 1, 1, 0, 0, 0, #BUS + 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER + 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE + 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE + 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN + + max_dist_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, #UNKNOWN + 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR + 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK + 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS + 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE + 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN + max_rad_matrix: # If value is greater than pi, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN + [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS + 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE + 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN + + min_iou_matrix: # If value is negative, it will be ignored. + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN + 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS + 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml new file mode 100644 index 0000000000..94882fae4f --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + distance_threshold_list: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0] #UNKNOWN diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index e4bedaed8a..f08de01837 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -47,6 +47,14 @@ name="object_recognition_prediction_map_based_prediction_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml" /> + + Date: Fri, 21 Jul 2023 19:08:14 +0900 Subject: [PATCH 2/4] feat(avoidance): flexible avoidance path generation (#454) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) 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 eb300dd612..2330c7c9e8 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 @@ -145,11 +145,9 @@ longitudinal: prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] - min_avoidance_distance: 10.0 # [m] - min_nominal_avoidance_speed: 7.0 # [m/s] - min_sharp_avoidance_speed: 2.78 # [m/s] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] + nominal_avoidance_speed: 8.33 # [m/s] # For yield maneuver yield: @@ -157,7 +155,6 @@ # For stop maneuver stop: - min_distance: 10.0 # [m] max_distance: 20.0 # [m] stop_buffer: 1.0 # [m] @@ -167,9 +164,10 @@ # lateral constraints lateral: - nominal_lateral_jerk: 0.2 # [m/sss] - max_lateral_jerk: 1.0 # [m/sss] - max_lateral_acceleration: 0.5 # [m/ss] + velocity: [1.0, 1.38, 11.1] # [m/s] + max_accel_values: [0.5, 0.5, 0.5] # [m/ss] + min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] + max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] # longitudinal constraints longitudinal: From 94ffca2487ec21978d3c9b7b7f3559fe095d8080 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sat, 22 Jul 2023 15:13:04 +0900 Subject: [PATCH 3/4] refactor(avoidance): parameterize magic number (#426) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 2330c7c9e8..15aa644390 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 @@ -138,6 +138,7 @@ lateral: lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] + lateral_avoid_check_threshold: 0.1 # [m] road_shoulder_safety_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 From 732bd5d1988b9a3be9ace77df1e503423783087b Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 22 Jul 2023 17:32:29 +0900 Subject: [PATCH 4/4] feat(behavior_velocity_planner): add flag to enable auto mode without rtc_auto_mode_manager (#435) * add enable_rtc param Signed-off-by: kyoichi-sugahara * fix typo Signed-off-by: kyoichi-sugahara * revert change of rviz config Signed-off-by: kyoichi-sugahara * revert change of rviz config Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../behavior_velocity_planner/blind_spot.param.yaml | 1 + .../behavior_velocity_planner/crosswalk.param.yaml | 1 + .../behavior_velocity_planner/detection_area.param.yaml | 1 + .../behavior_velocity_planner/intersection.param.yaml | 4 ++++ .../behavior_velocity_planner/no_stopping_area.param.yaml | 1 + .../behavior_velocity_planner/traffic_light.param.yaml | 1 + 6 files changed, 9 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 7963766c03..8a57bfeabd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -8,3 +8,4 @@ max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] + enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index edd37092ba..65ef41eff9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -5,6 +5,7 @@ show_processing_time: false # [-] whether to show processing time # param for input data traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal + enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. # param for stop position stop_position: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml index ad4e32cb4e..55b627cce7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml @@ -8,3 +8,4 @@ state_clear_time: 2.0 hold_stop_margin_distance: 0.0 distance_to_judge_over_stop_line: 0.5 + enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. 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 b430bfad4f..f20db856a9 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 @@ -48,5 +48,9 @@ denoise_kernel: 1.0 # [m] pub_debug_grid: 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 + intersection_to_occlusion: true + merge_from_private: stop_duration_sec: 1.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml index 32cd05a9cc..f550188d4f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml @@ -8,3 +8,4 @@ stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area detection_area_length: 200.0 # [m] used to create detection area polygon stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m) + enable_rtc: 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 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index 444fa5ca65..e8e0357daa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -5,3 +5,4 @@ tl_state_timeout: 1.0 yellow_lamp_period: 2.75 enable_pass_judge: true + enable_rtc: 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