From 54b9988e50a994475c3a9a9f0588a78aeba7906e Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 10 Oct 2023 15:49:50 +0900 Subject: [PATCH 1/7] add moving parameters for testing Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index ddea1a9b56..0bb0f19f32 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -181,11 +181,23 @@ # parameters to calculate slow down velocity by linear interpolation labels: - "default" + - "pedestrian" + - "moving_pedestrian" default: min_lat_margin: 0.2 max_lat_margin: 1.0 min_ego_velocity: 2.0 max_ego_velocity: 8.0 + pedestrian: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 4.0 + max_ego_velocity: 7.0 + moving_pedestrian: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 4.0 + max_ego_velocity: 5.0 time_margin_on_target_velocity: 1.5 # [s] From f831f5cfb6744c26ead9577850871f633032aa31 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 10 Oct 2023 17:28:12 +0900 Subject: [PATCH 2/7] param tuning for tests Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 0bb0f19f32..3c9e882160 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -191,13 +191,13 @@ pedestrian: min_lat_margin: 0.8 max_lat_margin: 1.3 - min_ego_velocity: 4.0 - max_ego_velocity: 7.0 + min_ego_velocity: 1.0 + max_ego_velocity: 2.0 moving_pedestrian: min_lat_margin: 0.8 max_lat_margin: 1.3 - min_ego_velocity: 4.0 - max_ego_velocity: 5.0 + min_ego_velocity: 0.5 + max_ego_velocity: 1.5 time_margin_on_target_velocity: 1.5 # [s] From f280a7806d8e7e373402cec25512e0562c8d63c1 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Mon, 6 Nov 2023 17:36:31 +0900 Subject: [PATCH 3/7] wip params for velocity-based obscruise planner Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 35 +++++++++++-------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 3c9e882160..1ba6ec7e7c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -182,22 +182,29 @@ labels: - "default" - "pedestrian" - - "moving_pedestrian" default: - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + moving: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 0.5 + max_ego_velocity: 1.5 + static: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 pedestrian: - min_lat_margin: 0.8 - max_lat_margin: 1.3 - min_ego_velocity: 1.0 - max_ego_velocity: 2.0 - moving_pedestrian: - min_lat_margin: 0.8 - max_lat_margin: 1.3 - min_ego_velocity: 0.5 - max_ego_velocity: 1.5 + moving: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 1.0 + max_ego_velocity: 2.0 + static: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 1.0 + max_ego_velocity: 2.0 + time_margin_on_target_velocity: 1.5 # [s] From 8d8b75fbffb394c744b6a707d2d3c82eee2eb5f0 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 7 Nov 2023 12:02:44 +0900 Subject: [PATCH 4/7] add different values for debugging Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 1ba6ec7e7c..bc8c71f58b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -184,7 +184,7 @@ - "pedestrian" default: moving: - min_lat_margin: 0.8 + min_lat_margin: 0.8 max_lat_margin: 1.3 min_ego_velocity: 0.5 max_ego_velocity: 1.5 @@ -197,8 +197,8 @@ moving: min_lat_margin: 0.8 max_lat_margin: 1.3 - min_ego_velocity: 1.0 - max_ego_velocity: 2.0 + min_ego_velocity: 0.5 + max_ego_velocity: 0.8 static: min_lat_margin: 0.8 max_lat_margin: 1.3 From 0ab947ddc5a04ec8334e768f506e4141f5299c0e Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 7 Nov 2023 14:50:23 +0900 Subject: [PATCH 5/7] set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index bc8c71f58b..9ff338fc1b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -205,6 +205,8 @@ min_ego_velocity: 1.0 max_ego_velocity: 2.0 + moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving" + moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold time_margin_on_target_velocity: 1.5 # [s] From f413583a91672f83def42f4ec6a4def20d357485 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Mon, 13 Nov 2023 16:50:54 +0900 Subject: [PATCH 6/7] set params to match previous values Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 19 ++++--------------- 1 file changed, 4 insertions(+), 15 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 9ff338fc1b..bc2f074618 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -184,26 +184,15 @@ - "pedestrian" default: moving: - min_lat_margin: 0.8 - max_lat_margin: 1.3 - min_ego_velocity: 0.5 - max_ego_velocity: 1.5 - static: min_lat_margin: 0.2 max_lat_margin: 1.0 min_ego_velocity: 2.0 max_ego_velocity: 8.0 - pedestrian: - moving: - min_lat_margin: 0.8 - max_lat_margin: 1.3 - min_ego_velocity: 0.5 - max_ego_velocity: 0.8 static: - min_lat_margin: 0.8 - max_lat_margin: 1.3 - min_ego_velocity: 1.0 - max_ego_velocity: 2.0 + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving" moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold From 451f0ec8cf2928578eb8b6ba7a10e7625e61e072 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Mon, 13 Nov 2023 17:00:47 +0900 Subject: [PATCH 7/7] eliminate pedestrian mention Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index bc2f074618..4c9f84d5eb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -181,7 +181,6 @@ # parameters to calculate slow down velocity by linear interpolation labels: - "default" - - "pedestrian" default: moving: min_lat_margin: 0.2