Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: add aichallenge submit launch arg #39

Merged
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
/**:
ros__parameters:
map_frame: map
arrival_check_angle_deg: 45.0
arrival_check_distance: 1.0
arrival_check_duration: 1.0
goal_angle_threshold_deg: 45.0
enable_correct_goal_pose: false
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
/**:
ros__parameters:
# ego
ego_nearest_dist_threshold: 3.0 # [m]
ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
Original file line number Diff line number Diff line change
@@ -0,0 +1,116 @@
# see AvoidanceParameters description in avoidance_module_data.hpp for description.
/**:
ros__parameters:
avoidance:
resample_interval_for_planning: 0.3 # [m]
resample_interval_for_output: 4.0 # [m]
detection_area_right_expand_dist: 0.0 # [m]
detection_area_left_expand_dist: 1.0 # [m]
drivable_area_right_bound_offset: 0.0 # [m]
drivable_area_left_bound_offset: 0.0 # [m]
object_envelope_buffer: 0.3 # [m]

# avoidance module common setting
enable_bound_clipping: false
enable_avoidance_over_same_direction: true
enable_avoidance_over_opposite_direction: true
enable_update_path_when_object_is_gone: false
enable_force_avoidance_for_stopped_vehicle: false
enable_safety_check: false
enable_yield_maneuver: false
disable_path_update: false

# for debug
publish_debug_marker: false
print_debug_info: false

# avoidance is performed for the object type with true
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: false
bicycle: false
motorcycle: false
pedestrian: false

# For target object filtering
target_filtering:
# filtering moving objects
threshold_speed_object_is_stopped: 1.0 # [m/s]
threshold_time_object_is_moving: 1.0 # [s]
threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
# detection range
object_check_force_avoidance_clearance: 30.0 # [m]
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
object_check_shiftable_ratio: 0.6 # [-]
object_check_min_road_shoulder_width: 0.5 # [m]
# lost object compensation
object_last_seen_threshold: 2.0

# For safety check
safety_check:
safety_check_backward_distance: 100.0 # [m]
safety_check_time_horizon: 10.0 # [s]
safety_check_idling_time: 1.5 # [s]
safety_check_accel_for_rss: 2.5 # [m/ss]
safety_check_hysteresis_factor: 2.0 # [-]

# For avoidance maneuver
avoidance:
# avoidance lateral parameters
lateral:
lateral_collision_margin: 1.0 # [m]
lateral_collision_safety_buffer: 0.7 # [m]
lateral_passable_safety_buffer: 0.0 # [m]
road_shoulder_safety_margin: 0.3 # [m]
avoidance_execution_lateral_threshold: 0.499
max_right_shift_length: 5.0
max_left_shift_length: 5.0
# avoidance distance parameters
longitudinal:
prepare_time: 2.0 # [s]
longitudinal_collision_safety_buffer: 0.0 # [m]
min_prepare_distance: 1.0 # [m]
min_avoidance_distance: 10.0 # [m]
min_nominal_avoidance_speed: 7.0 # [m/s]
min_sharp_avoidance_speed: 1.0 # [m/s]

# For yield maneuver
yield:
yield_velocity: 2.78 # [m/s]

# For stop maneuver
stop:
min_distance: 10.0 # [m]
max_distance: 20.0 # [m]

constraints:
# vehicle slows down under longitudinal constraints
use_constraints_for_decel: false # [-]

# lateral constraints
lateral:
nominal_lateral_jerk: 0.2 # [m/s3]
max_lateral_jerk: 1.0 # [m/s3]

# longitudinal constraints
longitudinal:
nominal_deceleration: -1.0 # [m/ss]
nominal_jerk: 0.5 # [m/sss]
max_deceleration: -2.0 # [m/ss]
max_jerk: 1.0
# For prevention of large acceleration while avoidance
min_avoidance_speed_for_acc_prevention: 3.0 # [m/s]
max_avoidance_acceleration: 0.5 # [m/ss]

target_velocity_matrix:
col_size: 2
matrix:
[2.78, 13.9, # velocity [m/s]
0.50, 1.00] # margin [m]
Original file line number Diff line number Diff line change
@@ -0,0 +1,58 @@
/**:
ros__parameters:
# Static expansion
avoidance:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
lane_change:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
lane_following:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
pull_out:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
pull_over:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]
side_shift:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]

# Dynamic expansion by projecting the ego footprint along the path
dynamic_expansion:
enabled: false
ego:
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the ego footprint
rear: 0.5 # [m] extra length to add to the rear of the ego footprint
left: 0.5 # [m] extra length to add to the left of the ego footprint
right: 0.5 # [m] extra length to add to the rear of the ego footprint
dynamic_objects:
avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
expansion:
method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
# 'lanelet': add lanelets overlapped by the ego footprints
# 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
avoid_linestring:
types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
- road_border
distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
compensate:
enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
extra_distance: 3.0 # [m] extra distance to add to the compensation
Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
/**:
ros__parameters:
lane_change:
lane_change_prepare_duration: 4.0 # [s]
lane_changing_safety_check_duration: 8.0 # [s]

minimum_lane_change_prepare_distance: 2.0 # [m]
minimum_lane_change_length: 16.5 # [m]
backward_length_buffer_for_end_of_lane: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]

lane_changing_lateral_jerk: 0.5 # [m/s3]
lane_changing_lateral_acc: 0.5 # [m/s2]

minimum_lane_change_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
maximum_deceleration: 1.0 # [m/s2]
lane_change_sampling_num: 3

# collision check
enable_collision_check_at_prepare_phase: false
prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
use_predicted_path_outside_lanelet: false
use_all_predicted_path: false

# abort
enable_cancel_lane_change: true
enable_abort_lane_change: false

abort_delta_time: 3.0 # [s]
abort_max_lateral_jerk: 1000.0 # [m/s3]

# debug
publish_debug_marker: false
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/**:
ros__parameters:
lane_following:
lane_change_prepare_duration: 2.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
/**:
ros__parameters:
pull_out:
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 1.0
collision_check_margin: 1.0
collision_check_distance_from_end: 1.0
# shift pull out
enable_shift_pull_out: true
shift_pull_out_velocity: 2.0
pull_out_sampling_num: 4
minimum_shift_pull_out_distance: 20.0
maximum_lateral_jerk: 2.0
minimum_lateral_jerk: 0.5
deceleration_interval: 15.0
# geometric pull out
enable_geometric_pull_out: true
divide_pull_out_path: false
geometric_pull_out_velocity: 1.0
arc_path_interval: 1.0
lane_departure_margin: 0.2
backward_velocity: -1.0
pull_out_max_steer_angle: 0.26 # 15deg
# search start pose backward
enable_back: true
search_priority: "efficient_path" # "efficient_path" or "short_back_distance"
max_back_distance: 30.0
backward_search_resolution: 2.0
backward_path_update_duration: 3.0
ignore_distance_from_lane_end: 15.0
Original file line number Diff line number Diff line change
@@ -0,0 +1,95 @@
/**:
ros__parameters:
pull_over:
request_length: 100.0
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
pull_over_velocity: 3.0
pull_over_minimum_velocity: 1.38
margin_from_boundary: 0.5
decide_path_distance: 10.0
maximum_deceleration: 0.5
# goal research
enable_goal_research: true
search_priority: "efficient_path" # "efficient_path" or "close_goal"
forward_goal_search_length: 20.0
backward_goal_search_length: 20.0
goal_search_interval: 2.0
longitudinal_margin: 3.0
max_lateral_offset: 0.5
lateral_offset_interval: 0.25
ignore_distance_from_lane_start: 15.0
# occupancy grid map
use_occupancy_grid: true
use_occupancy_grid_for_longitudinal_margin: false
occupancy_grid_collision_check_margin: 0.0
theta_size: 360
obstacle_threshold: 60
# object recognition
use_object_recognition: true
object_recognition_collision_check_margin: 1.0
# shift path
enable_shift_parking: true
pull_over_sampling_num: 4
maximum_lateral_jerk: 2.0
minimum_lateral_jerk: 0.5
deceleration_interval: 15.0
after_pull_over_straight_distance: 1.0
# freespace parking
enable_freespace_parking: true
freespace_parking:
planning_algorithm: "astar" # options: astar, rrtstar
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
minimum_turning_radius: 5.0
maximum_turning_radius: 5.0
turning_radius_size: 1
# search configs
theta_size: 144
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
# costmap configs
obstacle_threshold: 30
# -- A* search Configurations --
astar:
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
enable_update: true
use_informed_sampling: true
max_planning_time: 150.0
neighbor_radius: 8.0
margin: 1.0
# parallel parking path
enable_arc_forward_parking: true
enable_arc_backward_parking: true
after_forward_parking_straight_distance: 2.0
after_backward_parking_straight_distance: 2.0
forward_parking_velocity: 1.38
backward_parking_velocity: -1.38
forward_parking_lane_departure_margin: 0.0
backward_parking_lane_departure_margin: 0.0
arc_path_interval: 1.0
pull_over_max_steer_angle: 0.35 # 20deg
# hazard on when parked
hazard_on_threshold_distance: 1.0
hazard_on_threshold_velocity: 0.5
# check safety with dynamic objects. Not used now.
pull_over_duration: 2.0
pull_over_prepare_duration: 4.0
min_stop_distance: 5.0
stop_time: 2.0
hysteresis_buffer_distance: 2.0
prediction_time_resolution: 0.5
enable_collision_check_at_prepare_phase: false
use_predicted_path_outside_lanelet: false
use_all_predicted_path: false
# debug
print_debug_info: false
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
/**:
ros__parameters:
side_shift:
min_distance_to_start_shifting: 5.0
time_to_start_shifting: 1.0
shifting_lateral_jerk: 0.2
min_shifting_distance: 5.0
min_shifting_speed: 5.56
Loading