Merge remote-tracking branch 'upstream/main'

jkk-research · Aug 9, 2024 · caea8b1 · caea8b1
2 parents b6887d6 + 1cba8e2
commit caea8b1
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Showing 9 changed files with 58 additions and 33 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -2,14 +2,15 @@
   ros__parameters:
     # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: false
+    use_imu_path: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
+    check_autoware_state: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_horizon: 4.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
@@ -29,7 +30,7 @@
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
-    cluster_minimum_height: 0.0
+    cluster_minimum_height: 0.1
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 

diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -75,4 +75,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
+    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true

diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -243,6 +243,8 @@
       # For cancel maneuver
       cancel:
         enable: true                                    # [-]
+        force:
+          duration_time: 2.0                            # [s]
 
       # For yield maneuver
       yield:

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -6,7 +6,6 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
-      lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 
@@ -39,6 +38,14 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.8
+        parked:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.0
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -109,7 +116,9 @@
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
 
-      finish_judge_lateral_threshold: 0.2        # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+      finish_judge_lateral_threshold: 0.1        # [m]
+      finish_judge_lateral_angle_deviation: 1.0 # [deg]
 
       # debug
       publish_debug_marker: true
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -3,80 +3,80 @@
 # NOTE: The smaller the priority number is, the higher the module priority is.
 /**:
   ros__parameters:
+    # NOTE: modules which are not set true in the preset is ignored in the slot configuration
+    slots:
+      # NOTE: array of array is not supported
+      - slot1
+      - slot2
+      - slot3
+      - slot4
+    slot1:
+      - "start_planner"
+    slot2:
+      - "side_shift"
+      - "avoidance_by_lane_change"
+      - "static_obstacle_avoidance"
+      - "lane_change_left"
+      - "lane_change_right"
+      - "external_request_lane_change_left"
+      - "external_request_lane_change_right"
+    slot3:
+      - "goal_planner"
+    slot4:
+      - "dynamic_obstacle_avoidance"
+
     external_request_lane_change_left:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      keep_last: false
-      priority: 6
 
     external_request_lane_change_right:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      keep_last: false
-      priority: 6
 
     lane_change_left:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      keep_last: false
-      priority: 5
 
     lane_change_right:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      keep_last: false
-      priority: 5
 
     start_planner:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
-      keep_last: false
-      priority: 0
 
     side_shift:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
-      keep_last: false
-      priority: 2
 
     goal_planner:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
-      keep_last: true
-      priority: 1
 
     static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
-      keep_last: false
-      priority: 4
 
     avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
-      keep_last: false
-      priority: 3
 
     dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      keep_last: true
-      priority: 7
 
     sampling_planner:
       enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
-      keep_last: false
-      priority: 16
diff --git a/...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     update_rate: 30
-    target_acceleration: -2.5
-    target_jerk: -1.5
+    target_acceleration: -3.0
+    target_jerk: -3.0
diff --git a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml
@@ -1,3 +1,3 @@
 /**:
   ros__parameters:
-    num_of_procs: 5
+    num_of_procs: 40
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2396,7 +2396,7 @@ Visualization Manager:
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /control/trajectory_follower/lateral/predicted_trajectory
+            Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate
           Value: true
           View Path:
             Alpha: 1
@@ -2461,6 +2461,19 @@ 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