fix(slow_down_planner): improper parameter used in slow down

[satoshi-ota]

Signed-off-by: satoshi-ota satoshi.ota928@gmail.com

Description

close #2258

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[satoshi-ota]

@VRichardJP

[codecov]

Codecov Report

Base: 10.61% // Head: 10.50% // Decreases project coverage by -0.10% ⚠️

Coverage data is based on head (9f99a8a) compared to base (3c195d7).
Patch coverage: 0.00% of modified lines in pull request are covered.

❗ Current head 9f99a8a differs from pull request most recent head 5767e39. Consider uploading reports for the commit 5767e39 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2276      +/-   ##
==========================================
- Coverage   10.61%   10.50%   -0.11%     
==========================================
  Files        1241     1247       +6     
  Lines       83132    91028    +7896     
  Branches    20459    21033     +574     
==========================================
+ Hits         8825     9565     +740     
- Misses      64595    71276    +6681     
- Partials     9712    10187     +475     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.49% <0.00%> (-0.13%)	⬇️	Carriedforward from 988fe02

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
planning/obstacle_stop_planner/src/node.cpp	0.00% <0.00%> (ø)
...tic_evaluator/include/kinematic_evaluator/stat.hpp	62.50% <0.00%> (-19.32%)	⬇️
..._evaluator/include/localization_evaluator/stat.hpp	56.25% <0.00%> (-16.48%)	⬇️
.../src/vehicle/test_vehicle_state_checker_helper.hpp	70.58% <0.00%> (-9.42%)	⬇️
planning/behavior_path_planner/test/input.cpp	60.00% <0.00%> (-7.86%)	⬇️
common/perception_utils/src/conversion.cpp	50.00% <0.00%> (-7.15%)	⬇️
...city_planner/include/utilization/state_machine.hpp	31.03% <0.00%> (-7.07%)	⬇️
...ng/behavior_path_planner/test/test_turn_signal.cpp	40.41% <0.00%> (-6.86%)	⬇️
...include/motion_utils/trajectory/tmp_conversion.hpp	60.00% <0.00%> (-6.67%)	⬇️
...oware_auto_geometry/include/geometry/common_2d.hpp	82.66% <0.00%> (-5.91%)	⬇️
... and 772 more

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[VRichardJP]

Is it working on your side?

I have tried your fork with these parameters:

=== src/universe/autoware.universe (git) ===
diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index 55a21d6cd..5d30ef879 100644
--- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -3,7 +3,7 @@
     hunting_threshold: 0.5                   # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
     lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
     max_velocity: 20.0                       # max velocity [m/s]
-    enable_slow_down: False                  # whether to use slow down planner [-]
+    enable_slow_down: True                  # whether to use slow down planner [-]
 
     stop_planner:
       # params for stop position
@@ -29,12 +29,12 @@
 
       # params for detection area
       detection_area:
-        lateral_margin: 1.0                  # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+        lateral_margin: 10.0                  # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
 
       # params for velocity
       target_velocity:
-        max_slow_down_velocity: 1.38         # max slow down velocity (use this param if consider_constraints is False)[m/s]
-        min_slow_down_velocity: 0.28         # min slow down velocity (use this param if consider_constraints is False)[m/s]
+        max_slow_down_velocity: 10.0         # max slow down velocity (use this param if consider_constraints is False)[m/s]
+        min_slow_down_velocity: 10.0         # min slow down velocity (use this param if consider_constraints is False)[m/s]
         slow_down_velocity: 1.38             # target slow down velocity (use this param if consider_constraints is True)[m/s]
 
       # params for deceleration constraints (use this param if consider_constraints is True)
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 91bc71379..8d9f5b9af 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -209,7 +209,7 @@ def launch_setup(context, *args, **kwargs):
             obstacle_stop_planner_param,
             obstacle_stop_planner_acc_param,
             vehicle_info_param,
-            {"enable_slow_down": False},
+            # {"enable_slow_down": False},
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )

I can see the slow down markers, but the speed seems not to be limited to 10km/h:

[VRichardJP]

Sorry I am silly. With these parameters it works:

max_slow_down_velocity: 2.78  # = 10km/h!
min_slow_down_velocity: 2.78  

What about the motion_planning.launch.py? Does it makes sense to keep the hardcoded {"enable_slow_down": False} while it can be set in the yaml file?

[satoshi-ota]

@VRichardJP hmm... 🤔 I'll check it again with your parameters setting.

[satoshi-ota]

@VRichardJP

With these parameters it works:

That's good 👍

Previously, enable_slow_down was not included in the yaml file, so it was hardcoded into the launch file motion_planning.launch.py. Now it is not needed, so I'll remove hardcoded param in this PR.