From 549de6232138f91f0033df266e11be235e2a035a Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 21 Apr 2023 13:09:37 +0900 Subject: [PATCH 1/5] refactor(planning_launch): remove minimum lane changing length (#308) * refactor(planning_launch): remove minimum lane changing length Signed-off-by: yutaka * fix Signed-off-by: yutaka --------- Signed-off-by: yutaka --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 - 1 file changed, 1 deletion(-) 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 c54a67cb57..a4b63e4ab0 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 @@ -4,7 +4,6 @@ prepare_duration: 4.0 # [s] minimum_prepare_length: 10.0 # [m] - minimum_lane_changing_length: 16.5 # [m] backward_length_buffer_for_end_of_lane: 3.0 # [m] lane_change_finish_judge_buffer: 2.0 # [m] From ff2d11f3836a82a13c90578d7cc0d1bc3ab0ee37 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 23 Apr 2023 22:54:53 +0900 Subject: [PATCH 2/5] chore(autoware_launch): visualize thin predicted trajectory on rviz (#314) Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 8a5c933775..1b48b2b9db 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2075,6 +2075,7 @@ Visualization Manager: Color: 255; 255; 255 Constant Color: true Value: true + Constant Width: true Width: 0.05000000074505806 View Velocity: Alpha: 1 From 51bf8a32fc21c8ded762ab14cd449b2c0cc7be9a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 23 Apr 2023 23:02:36 +0900 Subject: [PATCH 3/5] feat(autoware_launch): add time to fix reference points's boundary width (#311) Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 5586de985d..3dc7609e38 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -102,6 +102,7 @@ # avoidance avoidance: + max_bound_fixing_time: 3.0 # [s] max_longitudinal_margin_for_bound_violation: 1.0 # [m] max_avoidance_cost: 0.5 # [m] avoidance_cost_margin: 0.0 # [m] From b229f57b138ac928cd80a0b6cf833003d648faf5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 24 Apr 2023 02:19:35 +0900 Subject: [PATCH 4/5] feat(obstacle_avoidance_planner): replan when forward path shape changes (#309) * feat(obstacle_avoidance_planner): replan when forward path shape changes Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 3dc7609e38..01a8dfb483 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -23,6 +23,8 @@ # replanning & trimming trajectory param outside algorithm replan: max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m] + max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m] + max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m] max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m] # make max_goal_moving_dist long to keep start point fixed for pull over max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m] From 662849879d7f488be85d43e8182d9eebf135c377 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 24 Apr 2023 10:06:27 +0900 Subject: [PATCH 5/5] chore(autoware_launch): make backward detection length for avoidance longer (#312) * chore(autoware_launch): make backward detection length for avoidance longer Signed-off-by: Takayuki Murooka * make longer Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 0183c227bc..e2918e0e68 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 @@ -75,7 +75,7 @@ # detection range object_check_force_avoidance_clearance: 30.0 # [m] object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 2.0 # [m] + object_check_backward_distance: 100.0 # [m] object_check_goal_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m]