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chore: sync awf/autoware_launch #228

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merged 4 commits into from
Aug 24, 2023
Merged

chore: sync awf/autoware_launch #228

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438d692
feat(vehicle_cmd_gate): adaptive filter limit (#510)
TakaHoribe Aug 23, 2023
b4a03f0
fix(freespace_planner): fixed by adding parameters of RRTstar algorit…
keiota Aug 23, 2023
407baae
refactor(safety_check): use safety check common param struct (#526)
satoshi-ota Aug 23, 2023
dd3f79f
feat(autoware_launch): add hold stop threshold in obstacle_cruise_pla…
takayuki5168 Aug 23, 2023
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22 changes: 12 additions & 10 deletions autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
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Expand Up @@ -14,15 +14,17 @@
stop_check_duration: 1.0
nominal:
vel_lim: 25.0
lon_acc_lim: 5.0
lon_jerk_lim: 5.0
lat_acc_lim: 5.0
lat_jerk_lim: 5.0
actual_steer_diff_lim: 1.0
reference_speed_points: [20.0, 30.0]
lon_acc_lim: [5.0, 4.0]
lon_jerk_lim: [5.0, 4.0]
lat_acc_lim: [5.0, 4.0]
lat_jerk_lim: [7.0, 6.0]
actual_steer_diff_lim: [1.0, 0.8]
on_transition:
vel_lim: 50.0
lon_acc_lim: 1.0
lon_jerk_lim: 0.5
lat_acc_lim: 2.0
lat_jerk_lim: 7.0
actual_steer_diff_lim: 1.0
reference_speed_points: [20.0, 30.0]
lon_acc_lim: [1.0, 0.9]
lon_jerk_lim: [0.5, 0.4]
lat_acc_lim: [2.0, 1.8]
lat_jerk_lim: [7.0, 6.0]
actual_steer_diff_lim: [1.0, 0.8]
8 changes: 8 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -146,6 +146,14 @@
safety_check_backward_distance: 100.0 # [m]
safety_check_hysteresis_factor: 2.0 # [-]
safety_check_ego_offset: 1.0 # [m]
# rss parameters
expected_front_deceleration: -1.0 # [m/ss]
expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
rear_vehicle_safety_time_margin: 1.0 # [s]
lateral_distance_max_threshold: 2.0 # [m]
longitudinal_distance_min_threshold: 3.0 # [m]
longitudinal_velocity_delta_time: 0.8 # [s]

# For avoidance maneuver
avoidance:
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13 changes: 0 additions & 13 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Expand Up @@ -29,19 +29,6 @@

visualize_maximum_drivable_area: true

lateral_distance_max_threshold: 1.7
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8

expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0

expected_front_deceleration_for_abort: -1.0
expected_rear_deceleration_for_abort: -2.0

rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0

lane_following:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
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12 changes: 12 additions & 0 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Expand Up @@ -26,6 +26,18 @@
min_longitudinal_acc: -1.0
max_longitudinal_acc: 1.0

# safety check
safety_check:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
expected_front_deceleration_for_abort: -1.0
expected_rear_deceleration_for_abort: -2.0
rear_vehicle_reaction_time: 2.0
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

# lateral acceleration map
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]
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2 changes: 2 additions & 0 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -14,6 +14,8 @@
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]

nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
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8 changes: 8 additions & 0 deletions .../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
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Expand Up @@ -37,3 +37,11 @@
only_behind_solutions: false
use_back: true
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: 0.1