From 80a387e10c6a2615d3cb45854fecc5137c5a68f4 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 8 Oct 2024 11:45:45 +0300 Subject: [PATCH 1/8] feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (#1142) Signed-off-by: Berkay Karaman --- .../obstacle_cruise_planner.param.yaml | 47 +++++++++++++------ 1 file changed, 33 insertions(+), 14 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 6028d7e6ae..3079c1e754 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -29,15 +29,26 @@ suppress_sudden_obstacle_stop: false stop_obstacle_type: - unknown: true - car: true - truck: true - bus: true - trailer: true - motorcycle: true - bicycle: true - pedestrian: true pointcloud: false + inside: + unknown: true + car: true + truck: true + bus: true + trailer: true + motorcycle: true + bicycle: true + pedestrian: true + + outside: + unknown: false + car: true + truck: true + bus: true + trailer: true + motorcycle: true + bicycle: true + pedestrian: true cruise_obstacle_type: inside: @@ -93,21 +104,29 @@ # if crossing vehicle is determined as target obstacles or not crossing_obstacle: - obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] - obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop + obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] + obstacle_traj_angle_threshold : 0.523599 # [rad] = 30 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint + min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s] + outside_obstacle: + max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s] + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego + pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss] + bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss] crossing_obstacle: - collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] + collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: - obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] - max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego + obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] + ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] + max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego + max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] + num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 10 Oct 2024 15:51:38 +0900 Subject: [PATCH 2/8] revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index d37554eba7..d31c30ce61 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -126,7 +126,7 @@ ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] - num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding From a68a2679f7d0aee2eca5295512c0df810df479ab Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 10 Oct 2024 15:51:52 +0900 Subject: [PATCH 3/8] revert(obstacle_cruisse): revert "fix(obstacle_cruise_planner): guarantee the stop margin (#1076)" (#1185) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 3079c1e754..9bfdccde3d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -26,7 +26,7 @@ enable_approaching: false additional_safe_distance_margin: 3.0 # [m] min_safe_distance_margin: 3.0 # [m] - suppress_sudden_obstacle_stop: false + suppress_sudden_obstacle_stop: true stop_obstacle_type: pointcloud: false From 39b51361df7de62b1d263276fc85154b2666bf2d Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Thu, 10 Oct 2024 18:19:38 +0900 Subject: [PATCH 4/8] Remove emergency braking from autoware-psim.yaml and enable autonomous emergency braking in tier4_control_component.launch.xml Signed-off-by: kyoichi-sugahara --- .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 --- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index e11f391606..dfc820f93c 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index bfa64229ee..a66ed49405 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From b7d1568a7be3b1f202f85925f777e84371c6375b Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 11 Oct 2024 16:36:47 +0900 Subject: [PATCH 5/8] refactor(rviz): add VirtualWall display for Autonomous Emergency Braking (#1187) feat(rviz): add VirtualWall display for Autonomous Emergency Braking Signed-off-by: kyoichi-sugahara --- autoware_launch/rviz/autoware.rviz | 31 +++++++++++++++++------------- 1 file changed, 18 insertions(+), 13 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index e4eb0b6e16..c53d5d62e6 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2450,6 +2450,22 @@ Visualization Manager: Offset: 0 Radius: 0.10000000149011612 Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AEB) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/virtual_wall + Value: true + Enabled: true + Name: VirtualWall - Class: rviz_default_plugins/Marker Enabled: false Name: Stop Reason @@ -2500,19 +2516,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /control/autonomous_emergency_braking/debug/markers Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Info/AEB - Namespaces: - stop_factor_text: true - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/autonomous_emergency_braking/info/markers - Value: true Enabled: true Name: Control - Class: rviz_common/Group @@ -2542,6 +2545,8 @@ Visualization Manager: Debug/MPC: true Debug/PurePursuit: true Predicted Trajectory: true + VirtualWall: + VirtualWall (AEB): true Value: false Debug: Control: true From 8de3a9f0ef400c62792738859b6374b37bf532da Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 11 Oct 2024 09:09:23 +0000 Subject: [PATCH 6/8] chore: sync files (#1188) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/workflows/github-release.yaml | 2 +- .github/workflows/pre-commit-optional.yaml | 2 +- .github/workflows/pre-commit.yaml | 2 +- .github/workflows/spell-check-differential.yaml | 2 +- .github/workflows/sync-files.yaml | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index b426d0cba6..4b1d7f47c6 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -15,7 +15,7 @@ on: jobs: github-release: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set tag name id: set-tag-name diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 38738196a0..12f536c551 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -5,7 +5,7 @@ on: jobs: pre-commit-optional: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index c724885fcb..4d005e849b 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -6,7 +6,7 @@ on: jobs: pre-commit: if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index 1fbf2ff469..f030a45251 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -5,7 +5,7 @@ on: jobs: spell-check-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index 51e523b803..0cffbcd2a2 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -14,7 +14,7 @@ jobs: sync-files: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token From 565568d2ea47ad2a0d92d2cb544f27d3b0efc93e Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 11 Oct 2024 19:37:02 +0900 Subject: [PATCH 7/8] fix(.github): change runs-on value to to ubuntu-22.04 (#1189) change to ubuntu-22.04 Signed-off-by: Go Sakayori --- .github/workflows/build-and-test-differential.yaml | 2 +- .github/workflows/build-and-test.yaml | 2 +- .github/workflows/cancel-previous-workflows.yaml | 2 +- .github/workflows/check-build-depends.yaml | 2 +- .github/workflows/pr-labeler.yaml | 2 +- .github/workflows/pre-commit-autoupdate.yaml | 2 +- .github/workflows/update-codeowners-from-packages.yaml | 2 +- .github/workflows/update-sync-param-files.yaml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 74242fead6..375e0cd5d6 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -17,7 +17,7 @@ jobs: build-and-test-differential: needs: make-sure-label-is-present if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 5a227b520f..fe0069d0a9 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -9,7 +9,7 @@ on: jobs: build-and-test: if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index 44983f7dea..bd2463d5a8 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -5,7 +5,7 @@ on: jobs: cancel-previous-workflows: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Cancel previous runs uses: styfle/cancel-workflow-action@0.12.1 diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 53a19adb5f..b2d14fa751 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -7,7 +7,7 @@ on: jobs: check-build-depends: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml index d45067bee5..cc2b26fd3e 100644 --- a/.github/workflows/pr-labeler.yaml +++ b/.github/workflows/pr-labeler.yaml @@ -8,7 +8,7 @@ on: jobs: label: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - uses: actions/labeler@v4 with: diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml index 23b403f2a5..8d57a53b5c 100644 --- a/.github/workflows/pre-commit-autoupdate.yaml +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -14,7 +14,7 @@ jobs: pre-commit-autoupdate: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 8b3d2407fb..760a647ffb 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -14,7 +14,7 @@ jobs: update-codeowners-from-packages: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml index 572d0ece2e..5fa57ad472 100644 --- a/.github/workflows/update-sync-param-files.yaml +++ b/.github/workflows/update-sync-param-files.yaml @@ -7,7 +7,7 @@ on: jobs: update-sync-param-files: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token From c9022ac5f2faec50691c6d02e0d786989b3f12cd Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 17 Oct 2024 09:23:09 +0900 Subject: [PATCH 8/8] fix(pointcloud_map_filter): add threshold for split map grid size (#1184) * fix(pointcloud_map_filter): add param Signed-off-by: badai-nguyen * fix: disable dynamic map loader for default unsplit-map Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../pointcloud_filter/pointcloud_map_filter.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 62b3074c15..a9ded1a9b5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -14,7 +14,7 @@ publish_debug_pcd: False # use dynamic map loading - use_dynamic_map_loading: True + use_dynamic_map_loading: False # time interval to check dynamic map loading timer_interval_ms: 100 @@ -24,3 +24,6 @@ # radius map for dynamic map loading map_loader_radius: 150.0 + + # Threshold of grid size to split map pointcloud + max_map_grid_size: 100.0