refactor: add param files in planning module (#3363)

* add planning_interface_test_manager class Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add counter function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param in default_motion_velocity_smoother,param.yaml Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * successfully launch target node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * successfully build the test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test for test_motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add abnormal trajectory test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary part Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * style(pre-commit): autofix * run pre-commit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add declaration Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Refactor callback functions for standardization Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refacotoring Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactored Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Refactor functions into a single template function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * relete unnecessary definition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Revert "delete unnecessary definition" This reverts commit 6cd13f8. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete module dependent part Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary arg Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply motion_velocity_smoother change Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for obstacle stop planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * run pre-commit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test fot obstacle_cruise_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test fot planning_vaildator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for freespace_planner_node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for obstacle_stop_planner with slow down Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add part of interface test for freespace Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change package name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply change of package name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp commit for debug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add planning interface test manager for scenario selector Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update parameter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp for behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param file Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test free space planner module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update map Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test for behavior path planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass freespace test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass freespace test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update map Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update map detection area Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add no stopping area Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * for print debug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param file Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor(behavior_path_planner): remove unnecessary functions (#3271) * refactor(behavior_path_planner): remove unnecessary functions Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> --------- Signed-off-by: yutaka <purewater0901@gmail.com> * Revert "temp" This reverts commit b82805e. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * suppress build error (-Werror=pedantic) Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for behavior_velocity_planner * build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete param file Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Resolve differences outside of parameter files Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete duplicate parameter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: yutaka <purewater0901@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
autowarefoundation · Apr 13, 2023 · 99b04da · 99b04da
1 parent 44c134b
commit 99b04da
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Showing 10 changed files with 91 additions and 31 deletions.
diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
@@ -16,6 +16,7 @@
       enable_force_avoidance_for_stopped_vehicle: false
       enable_safety_check: false
       enable_yield_maneuver: false
+      disable_path_update: false
 
       # for debug
       publish_debug_marker: false
@@ -52,11 +53,11 @@
 
       # For safety check
       safety_check:
-        safety_check_backward_distance: 50.0            # [m]
-        safety_check_time_horizon: 10.0                 # [s]
-        safety_check_idling_time: 1.5                   # [s]
-        safety_check_accel_for_rss: 2.5                 # [m/ss]
-        safety_check_hysteresis_factor: 2.0             # [-]
+        safety_check_backward_distance: 100.0            # [m]
+        safety_check_time_horizon: 10.0                  # [s]
+        safety_check_idling_time: 1.5                    # [s]
+        safety_check_accel_for_rss: 2.5                  # [m/ss]
+        safety_check_hysteresis_factor: 2.0              # [-]
 
       # For avoidance maneuver
       avoidance:
@@ -65,7 +66,7 @@
           lateral_collision_margin: 1.0                 # [m]
           lateral_collision_safety_buffer: 0.7          # [m]
           lateral_passable_safety_buffer: 0.0           # [m]
-          road_shoulder_safety_margin: 0.0              # [m]
+          road_shoulder_safety_margin: 0.3              # [m]
           avoidance_execution_lateral_threshold: 0.499
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0

diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
@@ -1,9 +1,13 @@
 /**:
   ros__parameters:
-    planning_hz: 10.0
+    verbose: false
+
+    groot_zmq_publisher_port: 1666
+    groot_zmq_server_port: 1667
 
+    planning_hz: 10.0
     backward_path_length: 5.0
-    forward_path_length: 200.0
+    forward_path_length: 300.0
     backward_length_buffer_for_end_of_pull_over: 5.0
     backward_length_buffer_for_end_of_pull_out: 5.0
     minimum_pull_over_length: 16.0
@@ -18,7 +22,10 @@
     turn_signal_shift_length_threshold: 0.3
     turn_signal_on_swerving: true
 
-    path_interval: 2.0
+    enable_akima_spline_first: false
+    enable_cog_on_centerline: false
+    input_path_interval: 2.0
+    output_path_interval: 2.0
 
     visualize_maximum_drivable_area: true
 
@@ -28,8 +35,8 @@
     expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0
 
-    expected_front_deceleration_for_abort: -2.0
-    expected_rear_deceleration_for_abort: -2.5
+    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: 2.0
+    rear_vehicle_safety_time_margin: 1.0
diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml
@@ -1,6 +1,8 @@
 /**:
   ros__parameters:
     lane_change:
+      lane_change_prepare_duration: 4.0         # [s]
+      lane_changing_safety_check_duration: 8.0  # [s]
       prepare_duration: 4.0         # [s]
 
       minimum_prepare_length: 2.0 # [m]
@@ -16,7 +18,7 @@
       minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
-      lane_change_sampling_num: 10
+      lane_change_sampling_num: 3
 
       # target object
       target_object:

diff --git a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
@@ -1,6 +1,7 @@
 /**:
   ros__parameters:
     pull_over:
+      request_length: 100.0
       minimum_request_length: 200.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
@@ -18,7 +19,7 @@
       backward_goal_search_length: 20.0
       goal_search_interval: 2.0
       longitudinal_margin: 3.0
-      max_lateral_offset: 1.0
+      max_lateral_offset: 0.5
       lateral_offset_interval: 0.25
       ignore_distance_from_lane_start: 15.0
       # occupancy grid map
@@ -36,18 +37,7 @@
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      after_pull_over_straight_distance: 5.0
-      # parallel parking path
-      enable_arc_forward_parking: true
-      enable_arc_backward_parking: true
-      after_forward_parking_straight_distance: 2.0
-      after_backward_parking_straight_distance: 2.0
-      forward_parking_velocity: 1.38
-      backward_parking_velocity: -1.38
-      forward_parking_lane_departure_margin: 0.0
-      backward_parking_lane_departure_margin: 0.0
-      arc_path_interval: 1.0
-      pull_over_max_steer_angle: 0.35  # 20deg
+      after_pull_over_straight_distance: 1.0
       # freespace parking
       enable_freespace_parking: true
       freespace_parking:
@@ -79,6 +69,17 @@
           max_planning_time: 150.0
           neighbor_radius: 8.0
           margin: 1.0
+      # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: true
+      after_forward_parking_straight_distance: 2.0
+      after_backward_parking_straight_distance: 2.0
+      forward_parking_velocity: 1.38
+      backward_parking_velocity: -1.38
+      forward_parking_lane_departure_margin: 0.0
+      backward_parking_lane_departure_margin: 0.0
+      arc_path_interval: 1.0
+      pull_over_max_steer_angle: 0.35  # 20deg
       # hazard on when parked
       hazard_on_threshold_distance: 1.0
       hazard_on_threshold_velocity: 0.5

diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
@@ -6,13 +6,15 @@
     launch_intersection: true
     launch_blind_spot: true
     launch_detection_area: true
-    launch_virtual_traffic_light: true
-    launch_occlusion_spot: true
+    launch_virtual_traffic_light: false # disabled by default to not confuse newcomers
+    launch_occlusion_spot: false
     launch_no_stopping_area: true
     launch_run_out: false
-    launch_speed_bump: true
+    launch_speed_bump: false
+    launch_out_of_lane: true
     forward_path_length: 1000.0
     backward_path_length: 5.0
+    stop_line_extend_length: 5.0
     max_accel: -2.8
     max_jerk: -5.0
     system_delay: 0.5

diff --git a/planning/behavior_velocity_planner/config/crosswalk.param.yaml b/planning/behavior_velocity_planner/config/crosswalk.param.yaml
@@ -29,6 +29,7 @@
       ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
+      external_input_timeout: 1.0
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for target area & object
@@ -42,3 +43,4 @@
     walkway:
       stop_duration_sec: 1.0 # [s] stop time at stop position
       stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+      external_input_timeout: 1.0
diff --git a/planning/behavior_velocity_planner/config/intersection.param.yaml b/planning/behavior_velocity_planner/config/intersection.param.yaml
@@ -22,6 +22,10 @@
       assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
       enable_front_car_decel_prediction: false # By default this feature is disabled
       stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
+      external_input_timeout: 1.0
 
     merge_from_private_road:
       stop_duration_sec: 1.0
+    merge_from_private:
+      merge_from_private_area:
+        stop_duration_sec: 1.0
diff --git a/planning/behavior_velocity_planner/config/out_of_lane.param.yaml b/planning/behavior_velocity_planner/config/out_of_lane.param.yaml
@@ -0,0 +1,39 @@
+/**:
+  ros__parameters:
+    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", "intervals", or "ttc"
+      skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane
+
+      threshold:
+        time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
+      intervals:  # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
+        ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
+        objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
+      ttc:
+        threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
+
+      objects:
+        minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
+        use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
+                                   # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
+
+      overlap:
+        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
+        extra_length: 0.0  # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
+
+      action:  # action to insert in the path if an object causes a conflict at an overlap
+        skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
+        strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego
+                     # if false, ego stops just before entering a lane but may then be overlapping another lane.
+        distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
+        slowdown:
+          distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
+          velocity: 2.0  # [m/s] slowdown velocity
+        stop:
+          distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
+
+      ego:
+        extra_front_offset: 0.0 # [m] extra front distance
+        extra_rear_offset: 0.0 # [m] extra rear distance
+        extra_right_offset: 0.0 # [m] extra right distance
+        extra_left_offset: 0.0 # [m] extra left distance
diff --git a/planning/behavior_velocity_planner/config/stop_line.param.yaml b/planning/behavior_velocity_planner/config/stop_line.param.yaml
@@ -2,8 +2,10 @@
   ros__parameters:
     stop_line:
       stop_margin: 0.0
+      stop_check_dist: 2.0
       stop_duration_sec: 1.0
-      hold_stop_margin_distance: 2.0
       use_initialization_stop_line_state: true
+      hold_stop_margin_distance: 2.0
+
       debug:
         show_stopline_collision_check: false            # [-] whether to show stopline collision
diff --git a/planning/behavior_velocity_planner/config/virtual_traffic_light.param.yaml b/planning/behavior_velocity_planner/config/virtual_traffic_light.param.yaml
@@ -4,6 +4,6 @@
       max_delay_sec: 3.0
       near_line_distance: 1.0
       dead_line_margin: 1.0
-      hold_stop_margin_distance: 0.0
       max_yaw_deviation_deg: 90.0
       check_timeout_after_stop_line: true
+      hold_stop_margin_distance: 0.0