From 07d12301e03857416a77ce2beb13774aa62d1cfc Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 14 Feb 2024 13:26:20 +0900 Subject: [PATCH 1/5] feat(motion_velocity_smoother): increase engage_acceleration (#736) * feat(motion_velocity_smoother): increase engage_acceleration * Update autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 4b6693f150..cfe03102a1 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -26,7 +26,7 @@ # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_acceleration: 0.5 # engage acceleration [m/ss] (use this acceleration when engagement) engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] From 1a6dbe2ea610263c12936b9323c5bfe9e2b6f852 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 14 Feb 2024 21:32:27 +0900 Subject: [PATCH 2/5] feat: define common max_vel (#870) Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 ++ .../motion_velocity_smoother.param.yaml | 1 - 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 03958fda9a..face8610c7 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + max_vel: 11.1 # max velocity limit [m/s] + # constraints param for normal driving normal: min_acc: -1.0 # min deceleration [m/ss] diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index cfe03102a1..ff97ae8dfb 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,6 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter From 39892b18358bb024ea68db611e33c377419e66d2 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 15 Feb 2024 00:57:22 +0900 Subject: [PATCH 3/5] refactor(blind_spot): find first_conflicting_lane just as intersection module (#873) temp Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/blind_spot.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 7bd7d88230..424029300a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -4,7 +4,7 @@ use_pass_judge_line: true stop_line_margin: 1.0 # [m] backward_length: 50.0 # [m] - ignore_width_from_center_line: 0.7 # [m] + ignore_width_from_center_line: 0.0 # [m] max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] From 6c6e8640e6725e137a0650c389af2cfceb0cd25a Mon Sep 17 00:00:00 2001 From: Zhe Shen <80969277+HansOersted@users.noreply.github.com> Date: Thu, 15 Feb 2024 08:40:17 +0900 Subject: [PATCH 4/5] feat(tier4_control_launch): disable the trajectory extension (#866) disable the trajectory extending for terminal yaw control Signed-off-by: Zhe Shen --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 9998b6aadf..7820c562e8 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -13,7 +13,7 @@ curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- trajectory extending -- - extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + extend_trajectory_for_end_yaw_control: false # flag of trajectory extending for terminal yaw control # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) From bb8e579f2aad82982e38308ee7d92905970bc099 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 15 Feb 2024 09:10:41 +0900 Subject: [PATCH 5/5] fix(planning_validator): add missing params (#876) Signed-off-by: satoshi-ota --- .../planning_validator/planning_validator.param.yaml | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml index 658a968906..da337d70b1 100644 --- a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml @@ -26,3 +26,14 @@ steering_rate: 10.0 velocity_deviation: 100.0 distance_deviation: 100.0 + longitudinal_distance_deviation: 1.0 + + parameters: + # The required trajectory length is calculated as the distance needed + # to stop from the current speed at this deceleration. + forward_trajectory_length_acceleration: -3.0 + + # An error is raised if the required trajectory length is less than this distance. + # Setting it to 0 means an error will occur if even slightly exceeding the end of the path, + # therefore, a certain margin is necessary. + forward_trajectory_length_margin: 2.0