From 0a82e31ac0f57415ac76e4bddf6bd75e41b7b808 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 24 Apr 2023 10:53:24 +0900 Subject: [PATCH 1/4] feat(autoware_launch): make drivable area expansion parameters common (#310) Signed-off-by: Takayuki Murooka --- .../drivable_area_expansion.param.yaml | 23 +++---------------- 1 file changed, 3 insertions(+), 20 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 57147dcbd2..1609cdbc60 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -1,26 +1,9 @@ /**: 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] - 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] + 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: From e87306d98c8121a3697bc6ca4bfb59ba368ac3a8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 24 Apr 2023 11:47:31 +0900 Subject: [PATCH 2/4] feat(behavior_velocity_planner::intersection): add occlusion detection feature (#305) * migrated Signed-off-by: Mamoru Sobue * fixed param Signed-off-by: Mamoru Sobue * remove some params Signed-off-by: Mamoru Sobue * organized param Signed-off-by: Mamoru Sobue * disable occlusion feature off by default Signed-off-by: Mamoru Sobue --------- Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 11 +++++++++++ .../rtc_auto_mode_manager.param.yaml | 2 ++ 2 files changed, 13 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 8a69d80394..e5cd57d23e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -28,5 +28,16 @@ collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr + occlusion: + enable: false + occlusion_detection_area_length: 70.0 # [m] + occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line + free_space_max: 43 + occupied_min: 58 + do_dp: true + before_creep_stop_time: 1.0 # [s] + min_vehicle_brake_for_rss: -2.5 # [m/s^2] + max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph + merge_from_private: stop_duration_sec: 1.0 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 f38becc39f..321c59bb50 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 @@ -15,6 +15,7 @@ - "avoidance_right" - "pull_over" - "pull_out" + - "intersection_occlusion" default_enable_list: - "blind_spot" @@ -29,3 +30,4 @@ - "avoidance_right" - "pull_over" - "pull_out" + - "intersection_occlusion" From a379f7d8b9275ef8d7cda4a35c3d644c6786951f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 24 Apr 2023 14:40:20 +0900 Subject: [PATCH 3/4] feat(intersection): add flag to enable creep towards intersection occlusion (#315) Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index e5cd57d23e..b40c01ad3f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -31,6 +31,7 @@ occlusion: enable: false occlusion_detection_area_length: 70.0 # [m] + enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line free_space_max: 43 occupied_min: 58 From ab48bfd7a05407643835a52d379c4994210d010d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 24 Apr 2023 15:22:14 +0900 Subject: [PATCH 4/4] fix(autoware_launch): old architecture lane change path in rviz (#316) Signed-off-by: Muhammad Zulfaqar Azmi --- autoware_launch/rviz/autoware.rviz | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 1b48b2b9db..5ba730c8e2 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1172,6 +1172,29 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true