From fa3dc950a954f5afb0d8128cc6bdd0270acb8370 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 20 Mar 2023 11:48:45 +0900 Subject: [PATCH 1/5] [smoother] change curve speed params Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 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 4a458a647e..0a45138323 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 @@ -8,9 +8,9 @@ margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] # curve parameters - max_lateral_accel: 0.4 # 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 + max_lateral_accel: 0.2 # max lateral acceleration limit [m/ss] + min_curve_velocity: 0.5 # min velocity at lateral acceleration limit [m/ss] + decel_distance_before_curve: 2.0 # 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] From 8a65fd13af201757711180fbf05d67725b9b3132 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 20 Mar 2023 13:33:43 +0900 Subject: [PATCH 2/5] [longitudinal_controller] disable smooth_stop to prevent stopping at in front of the stop line Signed-off-by: Takamasa Horibe --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index bc3213081d..3b038d3939 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -2,7 +2,7 @@ ros__parameters: delay_compensation_time: 0.17 - enable_smooth_stop: true + enable_smooth_stop: false enable_overshoot_emergency: true enable_large_tracking_error_emergency: true enable_slope_compensation: true From 2da9c89d2e7df3663a526be413c120dc7ca24d0c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 20 Mar 2023 14:10:18 +0900 Subject: [PATCH 3/5] only activate detection_area and lane change module in rtc_auto_manager Signed-off-by: Mamoru Sobue --- .../rtc_auto_mode_manager.param.yaml | 20 ------------------- 1 file changed, 20 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml index 0e3391e69e..92201c4fd8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml @@ -1,31 +1,11 @@ /**: ros__parameters: module_list: - - "blind_spot" - - "crosswalk" - "detection_area" - - "intersection" - - "no_stopping_area" - - "traffic_light" - - "ext_request_lane_change_left" - - "ext_request_lane_change_right" - "lane_change_left" - "lane_change_right" - - "avoidance_left" - - "avoidance_right" - - "pull_over" - - "pull_out" default_enable_list: - - "blind_spot" - - "crosswalk" - "detection_area" - - "intersection" - - "no_stopping_area" - - "traffic_light" - "lane_change_left" - "lane_change_right" - - "avoidance_left" - - "avoidance_right" - - "pull_over" - - "pull_out" From d1834fba629ea9a1f043883b923b8bcd8b24f595 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 20 Mar 2023 16:13:37 +0900 Subject: [PATCH 4/5] fix(obstacle_stop_planner): fix lateral margin param Signed-off-by: Fumiya Watanabe --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index a8023482fc..c0e5819c31 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -22,7 +22,7 @@ # params for detection area detection_area: - lateral_margin: 0.0 # margin [m] + lateral_margin: 0.2 # margin [m] vehicle_lateral_margin: 0.0 # margin of vehicle footprint [m] pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m] unknown_lateral_margin: 0.0 # margin of unknown footprint [m] From 4046aa23518fe43d918c2664e80653bf58decc90 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 20 Mar 2023 16:39:42 +0900 Subject: [PATCH 5/5] fixed overrun at stop line by modifying delay compensation time Signed-off-by: Mamoru Sobue --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 3b038d3939..e3f730da30 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - delay_compensation_time: 0.17 + delay_compensation_time: 0.5 enable_smooth_stop: false enable_overshoot_emergency: true