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chore: sync awf-latest-xx1 #78

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merged 5 commits into from
Apr 25, 2023
Merged

chore: sync awf-latest-xx1 #78

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6628498
chore(autoware_launch): make backward detection length for avoidance …
takayuki5168 Apr 24, 2023
0a82e31
feat(autoware_launch): make drivable area expansion parameters common…
takayuki5168 Apr 24, 2023
e87306d
feat(behavior_velocity_planner::intersection): add occlusion detectio…
soblin Apr 24, 2023
a379f7d
feat(intersection): add flag to enable creep towards intersection occ…
takayuki5168 Apr 24, 2023
ab48bfd
fix(autoware_launch): old architecture lane change path in rviz (#316)
zulfaqar-azmi-t4 Apr 24, 2023
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2 changes: 1 addition & 1 deletion ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -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]
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23 changes: 3 additions & 20 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
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@@ -1,26 +1,9 @@
/**:
ros__parameters:
# Static expansion
avoidance:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
lane_change:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
pull_out:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
pull_over:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
side_shift:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]

# Dynamic expansion by projecting the ego footprint along the path
dynamic_expansion:
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12 changes: 12 additions & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -28,5 +28,17 @@
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:
enable: false
occlusion_detection_area_length: 70.0 # [m]
enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
free_space_max: 43
occupied_min: 58
do_dp: true
before_creep_stop_time: 1.0 # [s]
min_vehicle_brake_for_rss: -2.5 # [m/s^2]
max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph

merge_from_private:
stop_duration_sec: 1.0
2 changes: 2 additions & 0 deletions ...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
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Expand Up @@ -15,6 +15,7 @@
- "avoidance_right"
- "pull_over"
- "pull_out"
- "intersection_occlusion"

default_enable_list:
- "blind_spot"
Expand All @@ -29,3 +30,4 @@
- "avoidance_right"
- "pull_over"
- "pull_out"
- "intersection_occlusion"
23 changes: 23 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -1172,6 +1172,29 @@ Visualization Manager:
Constant Color: false
Scale: 0.30000001192092896
Value: false
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: true
Name: (old)PathChangeCandidate_LaneChange
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/path_candidate/lane_change
Value: true
View Path:
Alpha: 0.30000001192092896
Color: 115; 210; 22
Constant Color: false
Value: true
Width: 2
View Velocity:
Alpha: 0.30000001192092896
Color: 0; 0; 0
Constant Color: false
Scale: 0.30000001192092896
Value: false
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: true
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