From 5b9551cdac21eb439943a08b24b647f52ea9c0c5 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 1 Aug 2024 09:21:45 +0900 Subject: [PATCH 01/24] feat(behavior_path _planner): divide planner manager modules into dependent slots (#1091) --- .../scene_module_manager.param.yaml | 44 +++++++++---------- 1 file changed, 22 insertions(+), 22 deletions(-) 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 59ef4157b8..9f270b0637 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 @@ -3,80 +3,80 @@ # NOTE: The smaller the priority number is, the higher the module priority is. /**: ros__parameters: + # NOTE: modules which are not set true in the preset is ignored in the slot configuration + slots: + # NOTE: array of array is not supported + - slot1 + - slot2 + - slot3 + - slot4 + slot1: + - "start_planner" + slot2: + - "side_shift" + - "avoidance_by_lane_change" + - "static_obstacle_avoidance" + - "lane_change_left" + - "lane_change_right" + - "external_request_lane_change_left" + - "external_request_lane_change_right" + slot3: + - "goal_planner" + slot4: + - "dynamic_obstacle_avoidance" + external_request_lane_change_left: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 6 external_request_lane_change_right: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 6 lane_change_left: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 5 lane_change_right: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 5 start_planner: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 0 side_shift: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 2 goal_planner: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - keep_last: true - priority: 1 static_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 4 avoidance_by_lane_change: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 3 dynamic_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: true - priority: 7 sampling_planner: enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 16 From 2f787838cbc0ea7ae31738194020cae3f1263dd9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 1 Aug 2024 11:23:49 +0900 Subject: [PATCH 02/24] Revert "fix(api): disable rosbridge to fix duplicated node" (#523) Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b046040129bc661ffa1993888cbe8e6b114ade8. --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 2b6083bed6..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,5 +2,7 @@ + + From 83c6907b5b0d7bc9b10505ec6b4981e69f17b36d Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 2 Aug 2024 10:30:05 +0900 Subject: [PATCH 03/24] feat(autonomous_emergency_braking): add info marker to aeb and state check override (#1103) * add info marker and override for state Signed-off-by: Daniel Sanchez * make stop wall viz default Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 1 + autoware_launch/rviz/autoware.rviz | 13 +++++++++++++ 2 files changed, 14 insertions(+) diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 0d86229b1d..d5c6356c38 100644 --- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -6,6 +6,7 @@ use_pointcloud_data: true use_predicted_object_data: false use_object_velocity_calculation: true + check_autoware_state: true min_generated_path_length: 0.5 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 61e8cf522c..a524f9f9bf 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2461,6 +2461,19 @@ Visualization Manager: Reliability Policy: Reliable Value: /control/autonomous_emergency_braking/debug/markers Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info/AEB + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/info/markers + Value: true Enabled: true Name: Control - Class: rviz_common/Group From f489384a3a210fd4cd9ab14707886a3c29450f9c Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 2 Aug 2024 16:22:28 +0900 Subject: [PATCH 04/24] feat(lane_change): add param for lateral angle deviation (#1087) * RT1-6514 adding lateral angle deviation param Signed-off-by: Zulfaqar Azmi * decrease angle deviation threshold to fix rtc issue Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) 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 d301e96deb..05b3bfd825 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 @@ -6,7 +6,6 @@ backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] - lane_change_finish_judge_buffer: 2.0 # [m] lane_changing_lateral_jerk: 0.5 # [m/s3] @@ -109,7 +108,9 @@ overhang_tolerance: 0.0 # [m] unsafe_hysteresis_threshold: 5 # [/] - finish_judge_lateral_threshold: 0.2 # [m] + lane_change_finish_judge_buffer: 2.0 # [m] + finish_judge_lateral_threshold: 0.1 # [m] + finish_judge_lateral_angle_deviation: 1.0 # [deg] # debug publish_debug_marker: true From 2244a256e75b9cbd4c728f95497aae6a8210bde1 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 2 Aug 2024 16:49:16 +0900 Subject: [PATCH 05/24] feat(lane_change): use different rss param to deal with parked vehicle (#1104) use separate rss for parked vehicle Signed-off-by: Muhammad Zulfaqar Azmi --- .../lane_change/lane_change.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 05b3bfd825..29942b6e38 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 @@ -38,6 +38,14 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + parked: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -2.0 + rear_vehicle_reaction_time: 1.0 + rear_vehicle_safety_time_margin: 0.8 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.0 cancel: expected_front_deceleration: -1.0 expected_rear_deceleration: -2.0 From c5034033422c5fba15db1d035bbf4cd5114e94c1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 8 Aug 2024 11:10:31 +0900 Subject: [PATCH 06/24] feat: increase the number of processes monitored by process_monitor (#1110) Signed-off-by: tomoya.kimura --- .../config/system/system_monitor/process_monitor.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml index 3d6d82fae5..64303dd472 100644 --- a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml @@ -1,3 +1,3 @@ /**: ros__parameters: - num_of_procs: 5 + num_of_procs: 40 From 1cba8e2fdc8b42180d85ba7990c3d2a9381dc188 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 9 Aug 2024 02:31:11 +0900 Subject: [PATCH 07/24] fix(mpc_lateral_controller): publish predicted trajectory in Frenet coordinate and visualize it on Rviz (#1111) Signed-off-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- autoware_launch/rviz/autoware.rviz | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 37772ac574..135aecc56b 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -75,4 +75,4 @@ average_num: 1000 steering_offset_limit: 0.02 - debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate + debug_publish_predicted_trajectory: true # publish debug predicted trajectory in Frenet coordinate diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index a524f9f9bf..18c391f0db 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2396,7 +2396,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/lateral/predicted_trajectory + Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate Value: true View Path: Alpha: 1 From c56b766e62f1088ec6650487f7675e98e22bce39 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kaan=20=C3=87olak?= Date: Sun, 11 Aug 2024 21:31:32 +0900 Subject: [PATCH 08/24] feat(tracking_object_merger): add merge frame (#1112) --- .../tracking_object_merger/decorative_tracker_merger.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml index e4ea2becd7..5286206876 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml @@ -2,6 +2,7 @@ /**: ros__parameters: base_link_frame_id: "base_link" + merge_frame_id: "map" time_sync_threshold: 0.999 sub_object_timeout_sec: 0.8 publish_interpolated_sub_objects: true #for debug From ab654e6f8cfbadcf7afdc1cffb98b1cd6893387d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 13 Aug 2024 10:44:50 +0900 Subject: [PATCH 09/24] fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (#1108) add skip process lon dist diff threshold Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 29942b6e38..f40992f354 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 @@ -26,6 +26,11 @@ min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 + skip_process: + longitudinal_distance_diff_threshold: + prepare: 1.0 + lane_changing: 1.0 + # safety check safety_check: allow_loose_check_for_cancel: true From 6696802ccac265e634ed7d4166c6016d7e4d9fb5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 13 Aug 2024 20:19:40 +0900 Subject: [PATCH 10/24] feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation (#1113) * feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation Signed-off-by: satoshi-ota * fix(static_obstacle_avoidance): tune ambiguous vehicle ignore area Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index ef113f6ff2..b9dd111f66 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -142,16 +142,16 @@ # "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically. # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode. # "ignore" : never avoid it. - policy: "auto" # [-] + policy: "manual" # [-] condition: th_stopped_time: 3.0 # [s] th_moving_distance: 1.0 # [m] ignore_area: traffic_light: - front_distance: 100.0 # [m] + front_distance: 20.0 # [m] crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] + front_distance: 20.0 # [m] + behind_distance: 0.0 # [m] wait_and_see: target_behaviors: ["MERGING", "DEVIATING"] # [-] th_closest_distance: 10.0 # [m] From 80a988b8d018fc1818a8d9d574db85a3f9e16955 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 14 Aug 2024 01:11:00 +0900 Subject: [PATCH 11/24] fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (#1116) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 5cee76de9b..d1b2cf5936 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -55,6 +55,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) + lane_departure_check_expansion_margin: 0.0 # shift parking shift_parking: From 2167c0b689843c0cfc3927a5a8874048f26cbc50 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 14 Aug 2024 11:58:35 +0900 Subject: [PATCH 12/24] feat(psim)!: change a setting parameter type from bool to string (#1106) * change a param type, bool to string --------- Signed-off-by: Yuki Takagi --- .../components/tier4_simulator_component.launch.xml | 4 ++-- autoware_launch/launch/planning_simulator.launch.xml | 9 +++++++-- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 817d5d9d97..3790620180 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -2,7 +2,7 @@ - + @@ -18,7 +18,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index eb9373678e..df74508657 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -37,6 +37,12 @@ + + @@ -81,13 +87,12 @@ - - + From 25be323c0fc4b2647ec5b2d5e0f9ff91efd9e720 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 14 Aug 2024 19:10:02 +0900 Subject: [PATCH 13/24] feat(autoware_map_based_prediction): add debug parameters for map-based prediction (#1118) * feat: add debug parameters for map-based prediction Signed-off-by: Taekjin LEE * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../prediction/map_based_prediction.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index e123b0dda6..5d68825f4d 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -50,3 +50,8 @@ consider_only_routable_neighbours: false reference_path_resolution: 0.5 #[m] + + # debug parameters + publish_processing_time: true + publish_processing_time_detail: true + publish_debug_markers: true From f3237e62bc4e2ca17f05bccea174eb1b890ebb5b Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 16 Aug 2024 17:16:36 +0900 Subject: [PATCH 14/24] fix(lane_change): parameter update (#1115) Signed-off-by: Muhammad Zulfaqar Azmi --- .../lane_change/lane_change.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) 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 f40992f354..70e70267eb 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 @@ -42,7 +42,7 @@ rear_vehicle_safety_time_margin: 1.0 lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 + longitudinal_velocity_delta_time: 0.0 parked: expected_front_deceleration: -1.0 expected_rear_deceleration: -2.0 @@ -58,7 +58,7 @@ rear_vehicle_safety_time_margin: 0.8 lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 2.5 - longitudinal_velocity_delta_time: 0.6 + longitudinal_velocity_delta_time: 0.0 stuck: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 @@ -66,7 +66,7 @@ rear_vehicle_safety_time_margin: 1.0 lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 + longitudinal_velocity_delta_time: 0.0 # lane expansion for object filtering lane_expansion: @@ -98,7 +98,7 @@ prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: false check_objects_on_other_lanes: false - use_all_predicted_path: true + use_all_predicted_path: false # lane change regulations regulation: From 713aa970398e036ecb9be86caa6191b398b25575 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 19 Aug 2024 17:51:34 +0900 Subject: [PATCH 15/24] feat(psim)!: preapre settings to launch localization modules on psim (#1094) Signed-off-by: Yuki Takagi --- .../launch/components/tier4_simulator_component.launch.xml | 3 +++ autoware_launch/launch/planning_simulator.launch.xml | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 3790620180..3bef9b5d1e 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -51,7 +51,10 @@ name="object_recognition_tracking_multi_object_tracker_node_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml" /> + + + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index df74508657..b51b0c0a07 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -41,7 +41,7 @@ From e3d83c04547a7383aced2430ab664a585863682e Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 19 Aug 2024 17:55:07 +0900 Subject: [PATCH 16/24] chore(autoware_multi_object_tracker): fix typo in input_channels (#1121) chore: fix typo of lidar_pointpainitng channel Signed-off-by: Taekjin LEE --- .../tracking/multi_object_tracker/input_channels.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml index b57f37675d..6f9bfcf621 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml @@ -40,8 +40,8 @@ name: "apollo" short_name: "Lap" # LIDAR-CAMERA - DNN - # cspell:ignore lidar_pointpainitng pointpainting - lidar_pointpainitng: + # cspell:ignore lidar_pointpainting pointpainting + lidar_pointpainting: topic: "/perception/object_recognition/detection/pointpainting/objects" can_spawn_new_tracker: true optional: From 9e7cc692693322af2089ad987d1dbe5f12e0b4c6 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 20 Aug 2024 00:57:05 +0900 Subject: [PATCH 17/24] fix(lidar_model): add centerpoint_sigma param file (#1086) fix: add centerpoint_sigma param file Signed-off-by: badai-nguyen --- .../lidar_model/centerpoint_sigma.param.yaml | 33 ++++++++----------- 1 file changed, 13 insertions(+), 20 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml index 5c3d8645de..bd5fc5f356 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml @@ -1,28 +1,21 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 1 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: true - has_twist: true - trt_precision: fp16 - cloud_capacity: 2000000 - densification_num_past_frames: 1 - densification_world_frame_id: map # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + cloud_capacity: 2000000 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 From 5b01e24e1203a311b832f5ac35854447b388db4c Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 20 Aug 2024 15:03:46 +0900 Subject: [PATCH 18/24] feat(tier4_perception_launch): add transfusion option for lidar_detection_model (#1124) Signed-off-by: Shumpei Wakabayashi --- .../launch/components/tier4_perception_component.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 823b0084b6..5d7b5eb321 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -18,6 +18,7 @@ + From 4877a5085a59b93b5c4be261648e2642bdeed3f4 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Wed, 21 Aug 2024 11:22:30 +0900 Subject: [PATCH 19/24] feat(freespace_planning_algorithms): add new parameters for astar planning algorithm (#1120) * add new astar planner parameters Signed-off-by: mohammad alqudah * add flag for obstacle confidence check Signed-off-by: mohammad alqudah * reduce freespace planner th_arrived_distance_m param value Signed-off-by: mohammad alqudah * reduce object polygon expand size in costmap generator Signed-off-by: mohammad alqudah * reduce vehicle shape margin in freespace planner Signed-off-by: mohammad alqudah * replace flag param by time threshold param Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../scenario_planning/common/costmap_generator.param.yaml | 2 +- .../goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ .../parking/freespace_planner/freespace_planner.param.yaml | 7 +++++-- 4 files changed, 10 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml index d23e2e9676..5d37138738 100644 --- a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml @@ -18,5 +18,5 @@ use_parkinglot: true use_objects: true use_points: true - expand_polygon_size: 1.0 + expand_polygon_size: 0.5 size_of_expansion_kernel: 9 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d1b2cf5936..93677d3ca9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -113,9 +113,11 @@ use_back: true adapt_expansion_distance: true expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 smoothness_weight: 0.5 obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 8cfae9e9ad..10eb7486db 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -83,9 +83,11 @@ use_back: true adapt_expansion_distance: true expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 smoothness_weight: 0.5 obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index a3e65a89f0..d82a942035 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -4,11 +4,12 @@ planning_algorithm: "astar" waypoints_velocity: 5.0 update_rate: 10.0 - th_arrived_distance_m: 1.0 + th_arrived_distance_m: 0.5 th_stopped_time_sec: 1.0 th_stopped_velocity_mps: 0.01 th_course_out_distance_m: 1.0 - vehicle_shape_margin_m: 1.0 + th_obstacle_time_sec: 1.0 + vehicle_shape_margin_m: 0.5 replan_when_obstacle_found: true replan_when_course_out: true @@ -36,9 +37,11 @@ use_back: true adapt_expansion_distance: true expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 smoothness_weight: 0.5 obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: From 5a39a41000b0ba28e02e6863ab840a164da798fe Mon Sep 17 00:00:00 2001 From: Autumn60 <37181352+Autumn60@users.noreply.github.com> Date: Wed, 21 Aug 2024 11:37:20 +0900 Subject: [PATCH 20/24] chore(vehicle_cmd_gate): delete deprecated parameters (#1127) delete deprecated params in vehicle_cmd_gate.param.yaml Signed-off-by: Autumn60 --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index dd99e6d160..8b11cdb85a 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -4,7 +4,6 @@ system_emergency_heartbeat_timeout: 0.5 use_emergency_handling: true check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) - use_start_request: false enable_cmd_limit_filter: true filter_activated_count_threshold: 5 filter_activated_velocity_threshold: 1.0 @@ -12,7 +11,6 @@ stop_hold_acceleration: -1.5 emergency_acceleration: -2.4 moderate_stop_service_acceleration: -1.5 - stopped_state_entry_duration_time: 0.1 stop_check_duration: 1.0 nominal: vel_lim: 25.0 From d38a63e6eb7d3fa5c5d827971481578eacbf36dd Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 21 Aug 2024 12:43:42 +0900 Subject: [PATCH 21/24] perf(goal_planner): faster path sorting and selection (#1119) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.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/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 93677d3ca9..b1b03c21c1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -36,7 +36,7 @@ # object recognition object_recognition: use_object_recognition: true - collision_check_soft_margins: [2.0, 1.5, 1.0] + collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented. collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 From 7eb75635427cb0c1da1ea3b27edad57f998b8c28 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 21 Aug 2024 18:01:12 +0900 Subject: [PATCH 22/24] feat(static_obstacle_avoidance): add parameter for envelope polygon creation (#1130) * add threshold for eclipse long radius Signed-off-by: Go Sakayori * change parameter Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../static_obstacle_avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index b9dd111f66..497c0eef02 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -28,6 +28,7 @@ hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER + th_error_eclipse_long_radius : 0.6 # [m] truck: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -38,6 +39,7 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 bus: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -48,6 +50,7 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 trailer: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -58,6 +61,7 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 unknown: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -68,6 +72,7 @@ hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 + th_error_eclipse_long_radius : 0.6 bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -78,6 +83,7 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 @@ -88,6 +94,7 @@ hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -98,6 +105,7 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER From 57c4dd4dd567a72b1c7eb9a24ba593f0282b7ccc Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 21 Aug 2024 19:50:27 +0900 Subject: [PATCH 23/24] refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (#1125) change parameter name to a more expressive one Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.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/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 70e70267eb..493279ff25 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 @@ -95,7 +95,7 @@ general_lanes: false intersection: true turns: true - prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] + stopped_object_velocity_threshold: 1.0 # [m/s] check_objects_on_current_lanes: false check_objects_on_other_lanes: false use_all_predicted_path: false From 1b3c7c5cfcfba89f7be45948f0a39790519aa6f2 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 21 Aug 2024 21:16:47 +0900 Subject: [PATCH 24/24] feat(lane_change): consider deceleration in safety check for cancel (#1068) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 493279ff25..0cea2aa62b 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 @@ -120,6 +120,7 @@ max_lateral_jerk: 100.0 # [m/s3] overhang_tolerance: 0.0 # [m] unsafe_hysteresis_threshold: 5 # [/] + deceleration_sampling_num: 5 # [/] lane_change_finish_judge_buffer: 2.0 # [m] finish_judge_lateral_threshold: 0.1 # [m]