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chore: sync awf-latest #359

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merged 3 commits into from
Mar 27, 2024
Merged

chore: sync awf-latest #359

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9b7a16a
feat: add dummy doors for planning simulator (#921)
isamu-takagi Mar 27, 2024
5375164
feat(run_out_module): new params for run out, add ego cut lane (#935)
danielsanchezaran Mar 27, 2024
954145a
feat(run_out): add obstacle types to run out (#936)
danielsanchezaran Mar 27, 2024
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3 changes: 3 additions & 0 deletions ...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
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Expand Up @@ -2,15 +2,18 @@
ros__parameters:
run_out:
detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module
use_partition_lanelet: true # [-] whether to use partition lanelet map data
suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
use_ego_cut_line: true # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates
stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles
detection_distance: 45.0 # [m] ahead distance from ego to detect the obstacles
detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time
min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision
ego_cut_line_length: 3.0 # The width of the ego's cut line

# Parameter to create abstracted dynamic obstacles
dynamic_obstacle:
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2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_simulator_component.launch.xml
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Expand Up @@ -3,6 +3,7 @@
<arg name="launch_dummy_perception"/>
<arg name="launch_dummy_vehicle"/>
<arg name="launch_dummy_localization"/>
<arg name="launch_dummy_doors"/>
<arg name="launch_diagnostic_converter"/>
<arg name="perception/enable_detection_failure"/>
<arg name="perception/enable_object_recognition"/>
Expand All @@ -17,6 +18,7 @@
<arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
<arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
<arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
<arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
<arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
<arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
<arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
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2 changes: 2 additions & 0 deletions autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -16,6 +16,7 @@
<let name="rviz_initial_pose_auto_fix_target" value="vector_map"/>
<let name="gnss_initial_pose_auto_fix_target" value="vector_map"/>
<!-- System -->
<arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
<!-- Scenario simulation -->
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<arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
<arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
<arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
<arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
<arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
<arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
<arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
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