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Merge pull request #279 from tier4/beta-to-tier4-main-sync
chore: sync beta branch beta/v0.20.0 with tier4/main
2 parents ebe27ff + a666120 commit 0a9fbc6

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+143
-85
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21 files changed

+143
-85
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autoware_launch/config/localization/ndt_scan_matcher.param.yaml

-3
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,5 @@
11
/**:
22
ros__parameters:
3-
# Use dynamic map loading
4-
use_dynamic_map_loading: true
5-
63
# Vehicle reference frame
74
base_frame: "base_link"
85

autoware_launch/config/map/pointcloud_map_loader.param.yaml

-1
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@@ -3,7 +3,6 @@
33
enable_whole_load: true
44
enable_downsampled_whole_load: false
55
enable_partial_load: true
6-
enable_differential_load: true
76
enable_selected_load: false
87

98
# only used when downsample_whole_load enabled

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml

+2
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@@ -3,6 +3,8 @@
33
input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
44
timeout_ms: 70.0
55
match_threshold_ms: 50.0
6+
image_buffer_size: 15
7+
debug_mode: false
68
filter_scope_min_x: -100.0
79
filter_scope_min_y: -100.0
810
filter_scope_min_z: -100.0
Original file line numberDiff line numberDiff line change
@@ -1,18 +1,26 @@
11
/**:
22
ros__parameters:
3-
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
4-
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
5-
point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
6-
max_voxel_size: 40000
7-
point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
8-
voxel_size: [0.32, 0.32, 8.0]
9-
downsample_factor: 1
10-
encoder_in_feature_size: 12
11-
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
12-
# post-process params
13-
circle_nms_dist_threshold: 0.3
14-
iou_nms_target_class_names: ["CAR"]
15-
iou_nms_search_distance_2d: 10.0
16-
iou_nms_threshold: 0.1
17-
# omp params
18-
omp_num_threads: 1
3+
model_params:
4+
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
5+
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
6+
point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
7+
max_voxel_size: 40000
8+
point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
9+
voxel_size: [0.32, 0.32, 8.0]
10+
downsample_factor: 1
11+
encoder_in_feature_size: 12
12+
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
13+
has_twist: false
14+
densification_params:
15+
world_frame_id: "map"
16+
num_past_frames: 0
17+
post_process_params:
18+
# post-process params
19+
circle_nms_dist_threshold: 0.3
20+
iou_nms_target_class_names: ["CAR"]
21+
iou_nms_search_distance_2d: 10.0
22+
iou_nms_threshold: 0.1
23+
score_threshold: 0.4
24+
omp_params:
25+
# omp params
26+
num_threads: 1

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

+3
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@@ -13,6 +13,9 @@
1313
sigma_yaw_angle_deg: 5.0 #[angle degree]
1414
object_buffer_time_length: 2.0 #[s]
1515
history_time_length: 1.0 #[s]
16+
check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints
17+
max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths
18+
min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve
1619
# parameter for shoulder lane prediction
1720
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
1821

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml

+3-3
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@@ -17,7 +17,7 @@
1717
publish_untracked_objects: false
1818

1919
# debug parameters
20-
publish_processing_time: false
20+
publish_processing_time: true
2121
publish_tentative_objects: false
22-
diagnostic_warn_delay: 0.5 # [sec]
23-
diagnostic_error_delay: 1.0 # [sec]
22+
diagnostics_warn_delay: 0.5 # [sec]
23+
diagnostics_error_delay: 1.0 # [sec]

autoware_launch/config/planning/preset/default_preset.yaml

+3
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@@ -77,6 +77,9 @@ launch:
7777
- arg:
7878
name: launch_no_drivable_lane_module
7979
default: "false"
80+
- arg:
81+
name: launch_dynamic_obstacle_stop_module
82+
default: "true"
8083

8184
# motion planning modules
8285
- arg:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

+36-35
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@@ -29,81 +29,81 @@
2929
car:
3030
execute_num: 1 # [-]
3131
moving_speed_threshold: 1.0 # [m/s]
32-
moving_time_threshold: 1.0 # [s]
32+
moving_time_threshold: 2.0 # [s]
3333
max_expand_ratio: 0.0 # [-]
34-
envelope_buffer_margin: 0.3 # [m]
35-
avoid_margin_lateral: 1.0 # [m]
36-
safety_buffer_lateral: 0.7 # [m]
34+
envelope_buffer_margin: 0.5 # [m]
35+
avoid_margin_lateral: 0.7 # [m]
36+
safety_buffer_lateral: 0.3 # [m]
3737
safety_buffer_longitudinal: 0.0 # [m]
3838
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
3939
truck:
4040
execute_num: 1
41-
moving_speed_threshold: 1.0 # 3.6km/h
42-
moving_time_threshold: 1.0
41+
moving_speed_threshold: 2.0 # 7.2km/h
42+
moving_time_threshold: 2.0
4343
max_expand_ratio: 0.0
44-
envelope_buffer_margin: 0.3
45-
avoid_margin_lateral: 1.0
46-
safety_buffer_lateral: 0.7
44+
envelope_buffer_margin: 0.5
45+
avoid_margin_lateral: 0.9
46+
safety_buffer_lateral: 0.1
4747
safety_buffer_longitudinal: 0.0
4848
use_conservative_buffer_longitudinal: true
4949
bus:
5050
execute_num: 1
51-
moving_speed_threshold: 1.0 # 3.6km/h
52-
moving_time_threshold: 1.0
51+
moving_speed_threshold: 2.0 # 7.2km/h
52+
moving_time_threshold: 2.0
5353
max_expand_ratio: 0.0
54-
envelope_buffer_margin: 0.3
55-
avoid_margin_lateral: 1.0
56-
safety_buffer_lateral: 0.7
54+
envelope_buffer_margin: 0.5
55+
avoid_margin_lateral: 0.9
56+
safety_buffer_lateral: 0.1
5757
safety_buffer_longitudinal: 0.0
5858
use_conservative_buffer_longitudinal: true
5959
trailer:
6060
execute_num: 1
61-
moving_speed_threshold: 1.0 # 3.6km/h
62-
moving_time_threshold: 1.0
61+
moving_speed_threshold: 2.0 # 7.2km/h
62+
moving_time_threshold: 2.0
6363
max_expand_ratio: 0.0
64-
envelope_buffer_margin: 0.3
65-
avoid_margin_lateral: 1.0
66-
safety_buffer_lateral: 0.7
64+
envelope_buffer_margin: 0.5
65+
avoid_margin_lateral: 0.9
66+
safety_buffer_lateral: 0.1
6767
safety_buffer_longitudinal: 0.0
6868
use_conservative_buffer_longitudinal: true
6969
unknown:
7070
execute_num: 1
7171
moving_speed_threshold: 0.28 # 1.0km/h
7272
moving_time_threshold: 1.0
7373
max_expand_ratio: 0.0
74-
envelope_buffer_margin: 0.3
75-
avoid_margin_lateral: 1.0
76-
safety_buffer_lateral: 0.7
74+
envelope_buffer_margin: 0.1
75+
avoid_margin_lateral: 0.7
76+
safety_buffer_lateral: -0.2
7777
safety_buffer_longitudinal: 0.0
7878
use_conservative_buffer_longitudinal: true
7979
bicycle:
8080
execute_num: 1
8181
moving_speed_threshold: 0.28 # 1.0km/h
8282
moving_time_threshold: 1.0
8383
max_expand_ratio: 0.0
84-
envelope_buffer_margin: 0.8
85-
avoid_margin_lateral: 1.0
86-
safety_buffer_lateral: 1.0
84+
envelope_buffer_margin: 0.5
85+
avoid_margin_lateral: 0.7
86+
safety_buffer_lateral: 0.5
8787
safety_buffer_longitudinal: 1.0
8888
use_conservative_buffer_longitudinal: true
8989
motorcycle:
9090
execute_num: 1
9191
moving_speed_threshold: 1.0 # 3.6km/h
9292
moving_time_threshold: 1.0
9393
max_expand_ratio: 0.0
94-
envelope_buffer_margin: 0.8
95-
avoid_margin_lateral: 1.0
96-
safety_buffer_lateral: 1.0
94+
envelope_buffer_margin: 0.5
95+
avoid_margin_lateral: 0.7
96+
safety_buffer_lateral: 0.3
9797
safety_buffer_longitudinal: 1.0
9898
use_conservative_buffer_longitudinal: true
9999
pedestrian:
100100
execute_num: 1
101101
moving_speed_threshold: 0.28 # 1.0km/h
102102
moving_time_threshold: 1.0
103103
max_expand_ratio: 0.0
104-
envelope_buffer_margin: 0.8
105-
avoid_margin_lateral: 1.0
106-
safety_buffer_lateral: 1.0
104+
envelope_buffer_margin: 0.5
105+
avoid_margin_lateral: 0.7
106+
safety_buffer_lateral: 0.5
107107
safety_buffer_longitudinal: 1.0
108108
use_conservative_buffer_longitudinal: true
109109
lower_distance_for_polygon_expansion: 30.0 # [m]
@@ -139,8 +139,9 @@
139139

140140
# params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
141141
force_avoidance:
142-
enable: false # [-]
143-
time_threshold: 1.0 # [s]
142+
enable: true # [-]
143+
time_threshold: 3.0 # [s]
144+
distance_threshold: 1.0 # [m]
144145
ignore_area:
145146
traffic_light:
146147
front_distance: 100.0 # [m]
@@ -188,7 +189,7 @@
188189
expected_rear_deceleration: -1.0 # [m/ss]
189190
rear_vehicle_reaction_time: 2.0 # [s]
190191
rear_vehicle_safety_time_margin: 1.0 # [s]
191-
lateral_distance_max_threshold: 0.75 # [m]
192+
lateral_distance_max_threshold: 2.0 # [m]
192193
longitudinal_distance_min_threshold: 3.0 # [m]
193194
longitudinal_velocity_delta_time: 0.8 # [s]
194195

@@ -216,7 +217,7 @@
216217
return_dead_line:
217218
goal:
218219
enable: true # [-]
219-
buffer: 25.0 # [m]
220+
buffer: 30.0 # [m]
220221
traffic_light:
221222
enable: true # [-]
222223
buffer: 3.0 # [m]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml

+1-1
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@@ -13,7 +13,7 @@
1313
smoothing:
1414
curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average
1515
max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length
16-
extra_arc_length: 2.0 # [m] extra arc length where an expansion distance is initially applied
16+
arc_length_range: 2.0 # [m] arc length range where an expansion distance is initially applied
1717
ego:
1818
extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
1919
extra_front_overhang: 0.5 # [m] extra length to add to the front overhang

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml

+12-5
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@@ -38,33 +38,40 @@
3838
crossing_object:
3939
min_overtaking_object_vel: 1.0
4040
max_overtaking_object_angle: 1.05
41-
min_oncoming_object_vel: 0.0
41+
min_oncoming_object_vel: 1.0
4242
max_oncoming_object_angle: 0.523
4343

4444
front_object:
4545
max_object_angle: 0.785
4646
min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
4747
max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
4848

49+
stopped_object:
50+
max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
51+
4952
drivable_area_generation:
5053
polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
5154
object_path_base:
5255
min_longitudinal_polygon_margin: 3.0 # [m]
5356

54-
lat_offset_from_obstacle: 0.8 # [m]
57+
lat_offset_from_obstacle: 1.0 # [m]
5558
max_lat_offset_to_avoid: 0.5 # [m]
5659
max_time_for_object_lat_shift: 0.0 # [s]
5760
lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
5861

62+
max_ego_lat_acc: 0.3 # [m/ss]
63+
max_ego_lat_jerk: 0.3 # [m/sss]
64+
delay_time_ego_shift: 1.0 # [s]
65+
5966
# for same directional object
6067
overtaking_object:
6168
max_time_to_collision: 40.0 # [s]
62-
start_duration_to_avoid: 2.0 # [s]
63-
end_duration_to_avoid: 4.0 # [s]
69+
start_duration_to_avoid: 1.0 # [s]
70+
end_duration_to_avoid: 1.0 # [s]
6471
duration_to_hold_avoidance: 3.0 # [s]
6572

6673
# for opposite directional object
6774
oncoming_object:
6875
max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
69-
start_duration_to_avoid: 12.0 # [s]
76+
start_duration_to_avoid: 1.0 # [s]
7077
end_duration_to_avoid: 0.0 # [s]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

+10-10
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@@ -57,37 +57,37 @@
5757

5858
# lane expansion for object filtering
5959
lane_expansion:
60-
left_offset: 0.0 # [m]
61-
right_offset: 0.0 # [m]
60+
left_offset: 1.0 # [m]
61+
right_offset: 1.0 # [m]
6262

6363
# lateral acceleration map
6464
lateral_acceleration:
6565
velocity: [0.0, 4.0, 10.0]
66-
min_values: [0.15, 0.15, 0.15]
67-
max_values: [0.5, 0.5, 0.5]
66+
min_values: [0.4, 0.4, 0.4]
67+
max_values: [0.65, 0.65, 0.65]
6868

6969
# target object
7070
target_object:
7171
car: true
7272
truck: true
7373
bus: true
7474
trailer: true
75-
unknown: true
75+
unknown: false
7676
bicycle: true
7777
motorcycle: true
7878
pedestrian: true
7979

8080
# collision check
8181
enable_prepare_segment_collision_check: false
8282
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
83-
check_objects_on_current_lanes: true
84-
check_objects_on_other_lanes: true
83+
check_objects_on_current_lanes: false
84+
check_objects_on_other_lanes: false
8585
use_all_predicted_path: true
8686

8787
# lane change regulations
8888
regulation:
89-
crosswalk: false
90-
intersection: false
89+
crosswalk: true
90+
intersection: true
9191
traffic_light: true
9292

9393
# ego vehicle stuck detection
@@ -107,4 +107,4 @@
107107
finish_judge_lateral_threshold: 0.2 # [m]
108108

109109
# debug
110-
publish_debug_marker: false
110+
publish_debug_marker: true

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

+3-2
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,9 @@
55
th_arrived_distance: 1.0
66
th_stopped_velocity: 0.01
77
th_stopped_time: 1.0
8-
collision_check_margin: 1.0
8+
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
99
collision_check_distance_from_end: 1.0
10+
collision_check_margin_from_front_object: 5.0
1011
th_moving_object_velocity: 1.0
1112
th_distance_to_middle_of_the_road: 0.5
1213
center_line_path_interval: 1.0
@@ -31,7 +32,7 @@
3132
# search start pose backward
3233
enable_back: true
3334
search_priority: "efficient_path" # "efficient_path" or "short_back_distance"
34-
max_back_distance: 30.0
35+
max_back_distance: 20.0
3536
backward_search_resolution: 2.0
3637
backward_path_update_duration: 3.0
3738
ignore_distance_from_lane_end: 15.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml

+1
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
ros__parameters:
33
forward_path_length: 1000.0
44
backward_path_length: 5.0
5+
behavior_output_path_interval: 1.0
56
stop_line_extend_length: 5.0
67
max_accel: -2.8
78
max_jerk: -5.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

+2-2
Original file line numberDiff line numberDiff line change
@@ -53,8 +53,8 @@
5353
stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
5454
min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
5555
## param for yielding
56-
disable_stop_for_yield_cancel: false # for the crosswalks with traffic signal
57-
disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
56+
disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
57+
disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
5858
# If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
5959
distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
6060
timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]

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