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feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module #730

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merged 10 commits into from
Jan 10, 2024
Merged

feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module #730

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e38d066
Add new dynamic_obstacle_stop module to the launch files
maxime-clem Nov 28, 2023
b904e4b
[DEBUG] disable all behavior_velocity_planner modules
maxime-clem Nov 28, 2023
84cc957
add initial parameters
maxime-clem Nov 28, 2023
847569c
new params (hysteresis, decision duration buffer, min object distance)
maxime-clem Dec 5, 2023
6b7313b
Revert "[DEBUG] disable all behavior_velocity_planner modules"
maxime-clem Dec 5, 2023
ddc4fe3
Reduce the minimum_object_distance_from_ego_path to 1.0
maxime-clem Dec 8, 2023
c2f4ccb
cleanup
maxime-clem Dec 11, 2023
4208a70
style(pre-commit): autofix
pre-commit-ci[bot] Dec 11, 2023
5628313
Add virtual wall and debug markers to rviz config
maxime-clem Dec 13, 2023
d83fbda
add launch flag in default_preset.yaml
maxime-clem Dec 21, 2023
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3 changes: 3 additions & 0 deletions autoware_launch/config/planning/preset/default_preset.yaml
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Expand Up @@ -80,6 +80,9 @@ launch:
- arg:
name: launch_no_drivable_lane_module
default: "false"
- arg:
name: launch_dynamic_obstacle_stop_module
default: "true"

# motion planning modules
- arg:
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10 changes: 10 additions & 0 deletions ...lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
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@@ -0,0 +1,10 @@
/**:
ros__parameters:
dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
extra_object_width: 1.0 # [m] extra width around detected objects
minimum_object_velocity: 0.5 # [m/s] objects with a velocity bellow this value are ignored
stop_distance_buffer: 0.5 # [m] extra distance to add between the stop point and the collision point
time_horizon: 5.0 # [s] time horizon used for collision checks
hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection
decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled
minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Expand Up @@ -49,6 +49,7 @@
<arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
<arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
<arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
<arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
<arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>

<!-- parking -->
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24 changes: 24 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -1676,6 +1676,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: VirtualWall (DynamicObstacleStop)
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop
Value: true
Enabled: true
Name: VirtualWall
- Class: rviz_common/Group
Expand Down Expand Up @@ -1944,6 +1956,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: DynamicObstacleStop
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop
Value: false
Enabled: false
Name: DebugMarker
- Class: rviz_common/Group
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