Merge pull request #1547 from tier4/fix/parameters

fix: parameters

control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml

@@ -47,7 +47,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.27     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]
@@ -76,13 +76,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    # vehicle parameters
-    mass_kg: 2400.0
-    mass_fl: 600.0
-    mass_fr: 600.0
-    mass_rl: 600.0
-    mass_rr: 600.0
-    cf: 155494.663
-    cr: 155494.663
-
     publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose

planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml

@@ -10,16 +10,16 @@
       obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]
       obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]
       emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss]
+      obstacle_emergency_stop_acceleration: -5.0
       emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s]
       min_dist_stop: 4.0 # minimum distance of emergency stop [m]
-      obstacle_emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss]
       max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss]
       min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control
       standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s]
       min_dist_standard: 4.0 # minimum distance in active cruise control [m]
       obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss]
       margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-]
-      use_time_compensation_to_calc_distance: true # use time-compensation to calculate distance to forward vehicle
+      use_time_compensation_to_calc_distance: true
 
       # pid parameter for ACC
       p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-]

planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml

@@ -1,22 +1,23 @@
 /**:
   ros__parameters:
-    chattering_threshold: 0.5                 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]
-    max_velocity: 20.0                        # max velocity [m/s]
-    enable_slow_down: False                   # whether to use slow down planner [-]
-    enable_z_axis_obstacle_filtering: True    # filter obstacles in z axis (height) [-]
-    z_axis_filtering_buffer: 0.0              # additional buffer for z axis filtering [m]
-    voxel_grid_x: 0.05                        # voxel grid x parameter for filtering pointcloud [m]
-    voxel_grid_y: 0.05                        # voxel grid y parameter for filtering pointcloud [m]
-    voxel_grid_z: 100000.0                    # voxel grid z parameter for filtering pointcloud [m]
-    use_predicted_objects : False             # whether to use predicted objects [-]
-    publish_obstacle_polygon: False           # whether to publish obstacle polygon [-]
+    chattering_threshold: 0.5                # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]
+    lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
+    max_velocity: 20.0                       # max velocity [m/s]
+    enable_slow_down: False                  # whether to use slow down planner [-]
+    enable_z_axis_obstacle_filtering: True   # filter obstacles in z axis (height) [-]
+    z_axis_filtering_buffer: 0.0             # additional buffer for z axis filtering [m]
+    voxel_grid_x: 0.05                       # voxel grid x parameter for filtering pointcloud [m]
+    voxel_grid_y: 0.05                       # voxel grid y parameter for filtering pointcloud [m]
+    voxel_grid_z: 100000.0                   # voxel grid z parameter for filtering pointcloud [m]
+    use_predicted_objects: False            # whether to use predicted objects [-]
+    publish_obstacle_polygon: False          # whether to publish obstacle polygon [-]
     predicted_object_filtering_threshold: 1.5 # threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m]
 
     stop_planner:
       # params for stop position
       stop_position:
         max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
-        max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind the goal on the path [m]
+        max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m]
         min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
         hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]
 

planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json

@@ -11,6 +11,11 @@
           "description": "even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]",
           "default": "0.5"
         },
+        "lowpass_gain": {
+          "type": "number",
+          "description": "gain parameter for low pass filter [-]",
+          "default": "0.9"
+        },
         "max_velocity": {
           "type": "number",
           "description": "max velocity [m/s]",

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml

@@ -41,13 +41,14 @@
       object_recognition:
         use_object_recognition: true
         collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  # the maximum margin when ego and objects are oriented.
-        collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker.
+        collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
         detection_bound_offset: 15.0
         outer_road_detection_offset: 1.0
         inner_road_detection_offset: 0.0
 
+
       # pull over
       pull_over:
         minimum_request_length: 0.0
@@ -101,10 +102,11 @@
           search_configs:
             theta_size: 120
             angle_goal_range: 6.0
-            curve_weight: 0.5
-            reverse_weight: 1.0
             lateral_goal_range: 0.5
             longitudinal_goal_range: 2.0
+            curve_weight: 0.5
+            reverse_weight: 1.0
+            direction_change_weight: 1.5
           # costmap configs
           costmap_configs:
             obstacle_threshold: 30
@@ -113,7 +115,13 @@
             search_method: "forward"  # options: forward, backward
             only_behind_solutions: false
             use_back: true
+            adapt_expansion_distance: true
+            expansion_distance: 0.5
+            near_goal_distance: 3.0
             distance_heuristic_weight: 2.0
+            smoothness_weight: 0.5
+            obstacle_distance_weight: 1.75
+            goal_lat_distance_weight: 5.0
           # -- RRT* search Configurations --
           rrtstar:
             enable_update: true
@@ -130,6 +138,7 @@
         ego_predicted_path:
           min_velocity: 1.0
           min_acceleration: 1.0
+          max_velocity: 1.0
           time_horizon_for_front_object: 10.0
           time_horizon_for_rear_object: 10.0
           time_resolution: 0.5

planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml

@@ -1,6 +1,7 @@
 /**:
   ros__parameters:
     traffic_light_signal_timeout: 1.0
+
     planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml

@@ -69,10 +69,11 @@
         search_configs:
           theta_size: 120
           angle_goal_range: 6.0
-          curve_weight: 0.5
-          reverse_weight: 1.0
           lateral_goal_range: 0.5
           longitudinal_goal_range: 2.0
+          curve_weight: 0.5
+          reverse_weight: 1.0
+          direction_change_weight: 1.5
         # costmap configs
         costmap_configs:
           obstacle_threshold: 30
@@ -81,7 +82,13 @@
           search_method: "forward"  # options: forward, backward
           only_behind_solutions: false
           use_back: true
+          adapt_expansion_distance: true
+          expansion_distance: 0.5
+          near_goal_distance: 3.0
           distance_heuristic_weight: 2.0
+          smoothness_weight: 0.5
+          obstacle_distance_weight: 1.75
+          goal_lat_distance_weight: 5.0
         # -- RRT* search Configurations --
         rrtstar:
           enable_update: true

planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml

@@ -3,6 +3,7 @@
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
       mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
       skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
+      ignore_overlaps_over_lane_changeable_lanelets: true  # if true, overlaps on lane changeable lanelets are ignored
       max_arc_length: 100.0  # [m] maximum trajectory arc length that is checked for out_of_lane collisions
 
       threshold:

vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml

@@ -5,7 +5,7 @@
     csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
-    convert_steer_cmd: true
+    convert_steer_cmd: false
     use_steer_ff: true
     use_steer_fb: true
     is_debugging: false