Merge pull request #8 from leo-drive/berkay/main

Planning & control related params

autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -1,8 +1,7 @@
 /**:
   ros__parameters:
-    transition_timeout: 500.0
-    frequency_hz: 120.0
-
+    transition_timeout: 10.0
+    frequency_hz: 10.0
     # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
     enable_engage_on_driving: false
 

autoware_launch/config/control/raw_vehicle_cmd_converter/config/converter.param.yaml

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    use_steer_ff: true
+    use_steer_fb: true
+    is_debugging: false
+    steer_pid:
+      kp: 150.0
+      ki: 15.0
+      kd: 0.0
+      max: 8.0
+      min: -8.0
+      max_p: 8.0
+      min_p: -8.0
+      max_i: 8.0
+      min_i: -8.0
+      max_d: 0.0
+      min_d: 0.0
+      invalid_integration_decay: 0.97

autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/accel_map.csv

@@ -0,0 +1,7 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.710,-0.063,-0.129,-0.205,-0.206,-0.208,-0.209,-0.210,-0.211,-0.259,-0.462
+0.100,0.858,0.857,0.632,0.257,0.029,0.029,0.023,-0.076,-0.115,-0.213,-0.279
+0.200,1.223,1.222,0.997,0.445,0.375,0.253,0.252,0.181,0.151,0.047,-0.030
+0.300,1.749,1.741,1.636,0.820,0.817,0.674,0.557,0.500,0.497,0.478,0.449
+0.400,2.646,2.362,2.325,1.680,1.129,1.043,0.955,0.935,0.908,0.894,0.801
+0.500,3.285,3.135,2.863,2.561,2.003,1.783,1.675,1.497,1.632,1.649,1.571

autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/brake_map.csv

@@ -0,0 +1,10 @@
+default,0,1.39,2.78,4.17,5.56,6.94,8.33,9.72,11.11,12.5,13.89
+0,0.71,-0.063,-0.129,-0.205,-0.206,-0.208,-0.209,-0.21,-0.211,-0.259,-0.462
+0.1,0.2,-0.123,-0.151,-0.206,-0.398,-0.399,-0.4,-0.401,-0.621,-0.622,-0.623
+0.2,0.1,-0.126,-0.308,-0.364,-0.399,-0.4,-0.401,-0.709,-0.851,-0.901,-0.965
+0.3,0,-0.433,-0.716,-0.744,-0.853,-0.884,-0.966,-1.002,-1.265,-1.553,-1.637
+0.4,-0.737,-1.721,-1.734,-1.751,-1.787,-1.957,-1.958,-1.959,-1.96,-2.023,-2.107
+0.5,-0.738,-2.229,-2.23,-2.257,-2.258,-2.588,-2.661,-2.672,-2.673,-2.679,-2.68
+0.6,-0.993,-2.328,-2.344,-2.345,-2.348,-2.66,-2.72,-2.727,-2.728,-2.729,-2.73
+0.7,-1.251,-2.329,-2.345,-2.346,-2.349,-2.661,-2.722,-2.728,-2.729,-2.73,-2.731
+0.8,-2.107,-2.33,-2.7,-2.8,-2.9,-2.979,-2.961,-2.952,-2.953,-2.954,-2.955

autoware_launch/config/control/raw_vehicle_cmd_converter/data/default/steer_map.csv

@@ -0,0 +1,14 @@
+default,-0.6,-0.5,-0.4,-0.3,-0.2,-0.1,0,0.1,0.2,0.3,0.4,0.5,0.6
+-12,-0.29,-0.3234236132,-0.3468991362,-0.37274847,-0.4288688461,-0.4696573,-0.4781014157,-0.49,-0.51,-0.52,-0.53,-0.54,-0.55
+-10,-0.2,-0.2451308686,-0.2667782734,-0.3090752469,-0.3575200568,-0.3874868999,-0.4041493831,-0.42,-0.43,-0.44,-0.45,-0.46,-0.47
+-8,-0.1,-0.1586739777,-0.2020698818,-0.2317654357,-0.2778998646,-0.3029839842,-0.3188172953,-0.32,-0.33,-0.34,-0.35,-0.36,-0.37
+-6,-0.0404761584,-0.0806574159,-0.1208386734,-0.1559621241,-0.1888907059,-0.210790018,-0.2322336736,-0.24,-0.25,-0.26,-0.27,-0.28,-0.29
+-4,0.01,-0.01428569928,-0.04,-0.06805018099,-0.09718925222,-0.1189509092,-0.1361293637,-0.14,-0.153044463,-0.1688321844,-0.18,-0.2,-0.22
+-2,0.06,0.05,0.03,0.01,-0.006091655083,-0.03546033903,-0.05319488695,-0.06097627388,-0.07576251508,-0.09165178816,-0.1,-0.12,-0.14
+0,0.11,0.09,0.07,0.05,0.03,0.01,-0.0004106386541,-0.01,-0.03,-0.05,-0.07,-0.09,-0.11
+2,0.15,0.13,0.11,0.09,0.07812978496,0.06023545297,0.04386326928,0.02314813566,0.003779338416,-0.01390526686,-0.0324840879,-0.05106290894,-0.06964172998
+4,0.24,0.22,0.2,0.1839795042,0.1649754952,0.1455879759,0.1274837062,0.1020632549,0.0861964856,0.06971503353,0.04541294018,0.01308869356,-0.01923555307
+6,0.33,0.31,0.29,0.274963497,0.2447295892,0.2337353319,0.2126138313,0.1767700907,0.1578757866,0.1440584148,0.1136331403,0.0827443595,0.05185557872
+8,0.43,0.41,0.39,0.3714915121,0.3299578073,0.3156403746,0.2997845963,0.2500495071,0.2339668568,0.2153133621,0.1815127859,0.156071251,0.1306297162
+10,0.5,0.49,0.48,0.4629455165,0.4210353203,0.3977027236,0.3865034288,0.3250957262,0.312237913,0.2885123051,0.2474220915,0.2123900615,0.1773580315
+12,0.56,0.54,0.53,0.5151036525,0.5046070554,0.4897214196,0.4687756354,0.4036994672,0.3812674227,0.3496883008,0.32482655,0.2783538423,0.2318811345

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -3,7 +3,7 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
-    admissible_position_error: 3.0  # stop mpc calculation when error is larger than the following value
+    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --

autoware_launch/config/control/trajectory_follower/lateral/pure_pursuit.param.yaml

@@ -1,16 +1,16 @@
 /**:
   ros__parameters:
-    ld_velocity_ratio: 2.5
+    ld_velocity_ratio: 3.0
     ld_lateral_error_ratio: 3.6
-    ld_curvature_ratio: 120.0
-    long_ld_lateral_error_threshold: 0.5
-    min_lookahead_distance: 5.55
-    max_lookahead_distance: 15.0
+    ld_curvature_ratio: 140.0
+    long_ld_lateral_error_threshold: 0.3
+    min_lookahead_distance: 4.7
+    max_lookahead_distance: 12.0
     converged_steer_rad: 0.1
     reverse_min_lookahead_distance: 7.0
     prediction_ds: 0.3
     prediction_distance_length: 21.0
     resampling_ds: 0.1
     curvature_calculation_distance: 4.0
-    enable_path_smoothing: false
+    enable_path_smoothing: true
     path_filter_moving_ave_num: 25

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -1,80 +1,75 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.5
+    delay_compensation_time: 0.3
 
-    enable_smooth_stop: true
+    enable_smooth_stop: false
     enable_overshoot_emergency: false
     enable_large_tracking_error_emergency: false
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5
-    drive_state_offset_stop_dist: 1.0
+    drive_state_offset_stop_dist: 1.5
     stopping_state_stop_dist: 0.5
     stopped_state_entry_duration_time: 0.1
-    stopped_state_entry_vel: 0.01
+    stopped_state_entry_vel: 0.05
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
     emergency_state_traj_trans_dev: 3.0
     emergency_state_traj_rot_dev: 0.7854
 
     # drive state
-    kp: 0.7
-    ki: 0.15
-    kd: 0.2
+    kp: 1.2
+    ki: 1.0
+    kd: 0.0
     max_out: 1.5
     min_out: -1.5
-    max_p_effort: 1.0
+    max_p_effort: 1.5
     min_p_effort: -1.5
-    max_i_effort: 0.3
-    min_i_effort: -0.3
+    max_i_effort: 0.7
+    min_i_effort: -0.7
     max_d_effort: 0.3
     min_d_effort: -0.3
-    lpf_vel_error_gain: 0.1
-    current_vel_threshold_pid_integration: 2.0
+    lpf_vel_error_gain: 0.5
+    current_vel_threshold_pid_integration: 0.1
     enable_brake_keeping_before_stop: true
-    brake_keeping_acc: -0.1
+    brake_keeping_acc: -0.3
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -0.8
-    smooth_stop_weak_acc: -0.3
-    smooth_stop_weak_stop_acc: -0.8
+    smooth_stop_min_strong_acc: -1.5
+    smooth_stop_weak_acc: -0.1
+    smooth_stop_weak_stop_acc: -0.5
     smooth_stop_strong_stop_acc: -1.5
     smooth_stop_max_fast_vel: 0.5
     smooth_stop_min_running_vel: 0.01
     smooth_stop_min_running_acc: 0.01
     smooth_stop_weak_stop_time: 0.8
-    smooth_stop_weak_stop_dist: -0.3
-    smooth_stop_strong_stop_dist: -0.5
+    smooth_stop_weak_stop_dist: -0.1
+    smooth_stop_strong_stop_dist: -0.3
 
     # stopped state
     stopped_vel: 0.0
     stopped_acc: -1.5
-    stopped_jerk: -1.5
+    stopped_jerk: -5.0
 
     # emergency state
     emergency_vel: 0.0
     emergency_acc: -5.0
     emergency_jerk: -3.0
 
     # acceleration limit
-    max_acc: 1.0
-    min_acc: -1.5
+    max_acc: 1.5
+    min_acc: -2.0
 
     # jerk limit
-    max_jerk: 1.0
-    min_jerk: -1.5
+    max_jerk: 5.0
+    min_jerk: -5.0
 
     # slope compensation
     use_trajectory_for_pitch_calculation: false
     lpf_pitch_gain: 0.9
-    max_pitch_rad: 0.5
-    min_pitch_rad: -0.5
-    upper_velocity_limit: 5.0
-    max_acc_compensation_limit: 0.5
-    min_acc_compensation_limit: -0.5
-    compensation_ratio: 0.4
-    compensate_only_gas: false
-
+    max_pitch_rad: 0.25
+    min_pitch_rad: -0.15
+

autoware_launch/config/control/trajectory_follower/trajectory_follower_node.param.yaml

@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
-    ctrl_period: 0.03
+    ctrl_period: 0.033
     timeout_thr_sec: 0.5

autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -2,10 +2,10 @@
   ros__parameters:
     map_frame: map
     arrival_check_angle_deg: 45.0
-    arrival_check_distance: 1.0
-    arrival_check_duration: 1.0
+    arrival_check_distance: 3.0
+    arrival_check_duration: 0.2
     goal_angle_threshold_deg: 45.0
-    enable_correct_goal_pose: false
+    enable_correct_goal_pose: true
     reroute_time_threshold: 10.0
     minimum_reroute_length: 30.0
     consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -2,14 +2,14 @@
   ros__parameters:
     # constraints param for normal driving
     normal:
-      min_acc: -1.0        # min deceleration [m/ss]
+      min_acc: -1.5        # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -0.6        # min jerk [m/sss]
-      max_jerk: 0.4         # max jerk [m/sss]
+      min_jerk: -1.5        # min jerk [m/sss]
+      max_jerk: 1.0         # max jerk [m/sss]
 
     # constraints to be observed
     limit:
-      min_acc: -1.5        # min deceleration limit [m/ss]
-      max_acc: 1.1        # max acceleration limit [m/ss]
-      min_jerk: -1.5       # min jerk limit [m/sss]
-      max_jerk: 0.8        # max jerk limit [m/sss]
+      min_acc: -2.0        # min deceleration limit [m/ss]
+      max_acc: 1.5        # max acceleration limit [m/ss]
+      min_jerk: -2.0       # min jerk limit [m/sss]
+      max_jerk: 1.5        # max jerk limit [m/sss]

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -8,22 +8,22 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 0.6             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 1.4            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
-    decel_distance_before_curve: 8.0   # slow speed distance before a curve for lateral acceleration limit
+    max_lateral_accel: 1.2             # max lateral acceleration limit [m/ss]
+    min_curve_velocity: 1.0            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
+    decel_distance_before_curve: 4.0   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -0.9  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
 
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
     engage_velocity: 0.1              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
-    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
-    engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
-    stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
+    engage_acceleration: 0.4           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_exit_ratio: 0.05             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
+    stop_dist_to_prohibit_engage: 2.0  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
 
     # stop velocity
-    stopping_velocity: 2.778  # change target velocity to this value before v=0 point [m/s]
-    stopping_distance: 0.0    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
+    stopping_velocity: 0.0  # change target velocity to this value before v=0 point [m/s]
+    stopping_distance: 0.1    # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied.
 
     # path extraction parameters
     extract_ahead_dist: 200.0         # forward trajectory distance used for planning [m]
@@ -49,10 +49,10 @@
     post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
 
     # steering angle rate limit parameters
-    max_steering_angle_rate: 25.0            # maximum steering angle rate [degree/s]
+    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
     resample_ds: 0.1                         # distance between trajectory points [m]
-    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
-    curvature_calculation_distance: 1.0      # distance of points while curvature is calculating [m]
+    curvature_threshold: 0.2                 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
+    curvature_calculation_distance: 1.5      # distance of points while curvature is calculating [m]
 
     # system
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point