feat(dynamic_avoidance): avoid oncoming vehicles #3584
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Codecov ReportPatch coverage has no change and project coverage change:
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## main #3584 +/- ##
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…3584) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Mingyu Li <mingyu.li@tier4.jp>
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Description
With this PR, oncoming vehicles can be avoided as follows.
NOTE: The parameters are tuned for the video to show how this works easily to understand.
Screencast from 2023年04月29日 00時58分05秒.webm
When testing like the above movie,
$ git diff diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 78383f6146..710f287175 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() find_package(OpenCV REQUIRED) find_package(magic_enum CONFIG REQUIRED) -set(COMPILE_WITH_OLD_ARCHITECTURE TRUE) +set(COMPILE_WITH_OLD_ARCHITECTURE FALSE) set(common_src src/steering_factor_interface.cpp$ git diff diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 400bc926..0bd5f74f 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -19,12 +19,12 @@ qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) mpc_prediction_horizon: 50 # prediction horizon step mpc_prediction_dt: 0.1 # prediction horizon period [s] - mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q + mpc_weight_lat_error: 1.0 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R - mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R + mpc_weight_lat_jerk: 0.1 # lateral jerk weight in matrix R mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 6d19b619..c26cfaa2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -15,7 +15,7 @@ min_obstacle_vel: 1.0 # [m/s] drivable_area_generation: - lat_offset_from_obstacle: 0.8 # [m] + lat_offset_from_obstacle: 2.0 # [m] time_to_avoid_same_directional_object: 5.0 # [s] time_to_avoid_opposite_directional_object: 6.0 # [s] - max_lat_offset_to_avoid: 0.5 # [m] + max_lat_offset_to_avoid: 2.0 # [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 32da47b1..11aacd9e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -53,7 +53,7 @@ max_module_size: 1 avoidance: - enable_module: true + enable_module: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false priority: 4 @@ -66,9 +66,8 @@ enable_simultaneous_execution_as_candidate_module: false priority: 3 max_module_size: 1 - dynamic_avoidance: - enable_module: false + enable_module: true enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true priority: 7 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 af82a346..c752f6cb 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 @@ -7,12 +7,10 @@ - "intersection" - "no_stopping_area" - "traffic_light" - - "external_request_lane_change_left" - - "external_request_lane_change_right" - "lane_change_left" - "lane_change_right" - - "avoidance_left" - - "avoidance_right" + # - "avoidance_left" + # - "avoidance_right" - "goal_planner" - "pull_out" - "intersection_occlusion" @@ -26,8 +24,8 @@ - "traffic_light" - "lane_change_left" - "lane_change_right" - - "avoidance_left" - - "avoidance_right" + # - "avoidance_left" + # - "avoidance_right" - "goal_planner" - "pull_out" - "intersection_occlusion" 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 01a8dfb4..420f3556 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 @@ -4,7 +4,7 @@ enable_smoothing: true # enable path smoothing by elastic band enable_skip_optimization: false # skip elastic band and model predictive trajectory enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result. - enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area + enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered. debug: diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index cdc4da53..d7e76f6c 100644launcher PR: autowarefoundation/autoware_launch#335
Tests performed
planning simulator
Effects on system behavior
Can avoid oncoming vehicles when dynamic avoidance is set to True.
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