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Merge branch 'autowarefoundation:main' into fix/update_motion_velocity_smoother_param
2 parents 79ad2d3 + 8b818d4 commit 039b7fa

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-37
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5 files changed

+70
-37
lines changed
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@@ -1,11 +1,10 @@
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/**:
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ros__parameters:
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tracker_ignore_label:
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UNKNOWN : true
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CAR : false
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TRUCK : false
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BUS : false
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TRAILER : false
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MOTORCYCLE : false
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BICYCLE : false
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PEDESTRIAN : false
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tracker_ignore_label.UNKNOWN : true
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tracker_ignore_label.CAR : false
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tracker_ignore_label.TRUCK : false
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tracker_ignore_label.BUS : false
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tracker_ignore_label.TRAILER : false
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tracker_ignore_label.MOTORCYCLE : false
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tracker_ignore_label.BICYCLE : false
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tracker_ignore_label.PEDESTRIAN : false

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

+3-3
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@@ -38,7 +38,7 @@
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use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
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truck:
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execute_num: 1
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moving_speed_threshold: 2.0 # 7.2km/h
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 2.0
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max_expand_ratio: 0.0
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envelope_buffer_margin: 0.5
@@ -48,7 +48,7 @@
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use_conservative_buffer_longitudinal: true
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bus:
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execute_num: 1
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moving_speed_threshold: 2.0 # 7.2km/h
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 2.0
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max_expand_ratio: 0.0
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envelope_buffer_margin: 0.5
@@ -58,7 +58,7 @@
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use_conservative_buffer_longitudinal: true
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trailer:
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execute_num: 1
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moving_speed_threshold: 2.0 # 7.2km/h
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moving_speed_threshold: 1.0 # 3.6km/h
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moving_time_threshold: 2.0
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max_expand_ratio: 0.0
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envelope_buffer_margin: 0.5

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml

+33-25
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@@ -3,7 +3,7 @@
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run_out:
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detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
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use_partition_lanelet: true # [-] whether to use partition lanelet map data
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suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
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suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
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specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates
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stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
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passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
@@ -12,15 +12,7 @@
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detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time
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min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision
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detection_area:
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margin_behind: 0.5 # [m] ahead margin for detection area length
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margin_ahead: 1.0 # [m] behind margin for detection area length
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# This area uses points not filtered by vector map to ensure safety
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mandatory_area:
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decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area
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# parameter to create abstracted dynamic obstacles
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# Parameter to create abstracted dynamic obstacles
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dynamic_obstacle:
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use_mandatory_area: false # [-] whether to use mandatory detection area
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assume_fixed_velocity:
@@ -34,26 +26,42 @@
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time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
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points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
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# approach if ego has stopped in the front of the obstacle for a certain amount of time
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approaching:
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enable: false
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margin: 0.0 # [m] distance on how close ego approaches the obstacle
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limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping
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# parameters for the change of state. used only when approaching is enabled
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state:
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stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping
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stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state
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disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value
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keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
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# parameter to avoid sudden stopping
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# Parameter to prevent sudden stopping.
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# If the deceleration jerk and acceleration exceed this value upon inserting a stop point,
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# the deceleration will be moderated to stay under this value.
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slow_down_limit:
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enable: false
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max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake.
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max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake.
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# prevent abrupt stops caused by false positives in perception
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# Parameter to prevent abrupt stops caused by false positives in perception
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ignore_momentary_detection:
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enable: true
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time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration
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# Typically used when the "detection_method" is set to ObjectWithoutPath or Points
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# Approach if the ego has stopped in front of the obstacle for a certain period
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# This avoids the issue of the ego continuously stopping in front of the obstacle
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approaching:
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enable: false
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margin: 0.0 # [m] distance on how close ego approaches the obstacle
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limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping
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# Parameters for state change when "approaching" is enabled
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state:
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stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping
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stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state
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disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value
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keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
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# Only used when "detection_method" is set to Points
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# Filters points by the detection area polygon to reduce computational cost
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# The detection area is calculated based on the current velocity and acceleration and deceleration jerk constraints
59+
detection_area:
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margin_behind: 0.5 # [m] ahead margin for detection area length
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margin_ahead: 1.0 # [m] behind margin for detection area length
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63+
# Only used when "detection_method" is set to Points
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# Points in this area are detected even if it is in the no obstacle segmentation area
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# The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints
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mandatory_area:
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decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area
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@@ -0,0 +1,25 @@
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/**:
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ros__parameters:
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convert_accel_cmd: true
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convert_brake_cmd: true
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convert_steer_cmd: false
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use_steer_ff: true
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use_steer_fb: true
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is_debugging: false
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max_throttle: 0.4
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max_brake: 0.8
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max_steer: 10.0
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min_steer: -10.0
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steer_pid:
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kp: 150.0
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ki: 15.0
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kd: 0.0
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max: 8.0
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min: -8.0
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max_p: 8.0
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min_p: -8.0
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max_i: 8.0
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min_i: -8.0
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max_d: 0.0
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min_d: 0.0
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invalid_integration_decay: 0.97

autoware_launch/launch/autoware.launch.xml

+1
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@@ -71,6 +71,7 @@
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<arg name="vehicle_id" value="$(var vehicle_id)"/>
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<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
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<arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
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<arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
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</include>
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</group>
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