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Merge pull request #353 from tier4/sync-awf-upstream
chore: sync tier4/autoware_launch:awf-latest
2 parents 2838290 + 916dc77 commit ea8bcb4

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19 files changed

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-48
lines changed

19 files changed

+202
-48
lines changed

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

+6
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,12 @@
1111
map_frame: "map"
1212

1313

14+
sensor_points:
15+
# Required distance of input sensor points. [m]
16+
# If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
17+
required_distance: 10.0
18+
19+
1420
ndt:
1521
# The maximum difference between two consecutive
1622
# transformations in order to consider convergence

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

+2-2
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,8 @@
1111
max_x: 150.0
1212
min_y: -70.0
1313
max_y: 70.0
14-
max_z: 2.5
15-
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
14+
margin_max_z: 0.0 # to extend the crop box max_z from vehicle_height
15+
margin_min_z: -2.5 # to extend the crop box min_z from ground
1616
negative: False
1717

1818
common_ground_filter:
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,53 @@
1+
# sample grid map fusion parameters for sample sensor kit
2+
/**:
3+
ros__parameters:
4+
# shared parameters
5+
shared_config:
6+
map_frame: "map"
7+
base_link_frame: "base_link"
8+
# center of the grid map
9+
gridmap_origin_frame: "base_link"
10+
11+
map_resolution: 0.5 # [m]
12+
map_length_x: 150.0 # [m]
13+
map_length_y: 150.0 # [m]
14+
15+
# each grid map parameters
16+
ogm_creation_config:
17+
height_filter:
18+
use_height_filter: true
19+
min_height: -1.0
20+
max_height: 2.0
21+
enable_single_frame_mode: true
22+
# use sensor pointcloud to filter obstacle pointcloud
23+
filter_obstacle_pointcloud_by_raw_pointcloud: true
24+
25+
grid_map_type: "OccupancyGridMapFixedBlindSpot"
26+
OccupancyGridMapFixedBlindSpot:
27+
distance_margin: 1.0
28+
OccupancyGridMapProjectiveBlindSpot:
29+
projection_dz_threshold: 0.01 # [m] for avoiding null division
30+
obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
31+
pub_debug_grid: false
32+
33+
# parameter settings for ogm fusion
34+
fusion_config:
35+
# following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length
36+
# Setting1: tune ogm creation parameters
37+
raw_pointcloud_topics: # put each sensor's pointcloud topic
38+
- "/sensing/lidar/top/pointcloud"
39+
- "/sensing/lidar/left/pointcloud"
40+
- "/sensing/lidar/right/pointcloud"
41+
fusion_input_ogm_topics:
42+
- "/perception/occupancy_grid_map/top_lidar/map"
43+
- "/perception/occupancy_grid_map/left_lidar/map"
44+
- "/perception/occupancy_grid_map/right_lidar/map"
45+
# reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
46+
input_ogm_reliabilities:
47+
- 1.0
48+
- 0.6
49+
- 0.6
50+
51+
# Setting2: tune ogm fusion parameters
52+
## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"]
53+
fusion_method: "overwrite"
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,20 @@
1+
/**:
2+
ros__parameters:
3+
# 1. fusion parameters
4+
fusion_input_ogm_topics: ["topic1", "topic2"]
5+
input_ogm_reliabilities: [0.8, 0.2]
6+
fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"]
7+
8+
# 2. synchronization settings
9+
match_threshold_sec: 0.01 # 10ms
10+
timeout_sec: 0.1 # 100ms
11+
input_offset_sec: [0.0, 0.0] # no offset
12+
13+
# 3. settings for fused fusion map
14+
# remember resolution and map size should be same with input maps
15+
map_frame_: "map"
16+
base_link_frame_: "base_link"
17+
grid_map_origin_frame_: "base_link"
18+
fusion_map_length_x: 100.0
19+
fusion_map_length_y: 100.0
20+
fusion_map_resolution: 0.5

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

-4
Original file line numberDiff line numberDiff line change
@@ -9,10 +9,6 @@
99
min_jerk: -1.0 # min jerk [m/sss]
1010
max_jerk: 1.0 # max jerk [m/sss]
1111

12-
slow_down:
13-
min_acc: -1.0 # min deceleration [m/ss]
14-
min_jerk: -1.0 # min jerk [m/sss]
15-
1612
# constraints to be observed
1713
limit:
1814
min_acc: -2.5 # min deceleration limit [m/ss]

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

+39-21
Original file line numberDiff line numberDiff line change
@@ -29,80 +29,96 @@
2929
execute_num: 1 # [-]
3030
moving_speed_threshold: 1.0 # [m/s]
3131
moving_time_threshold: 2.0 # [s]
32+
lateral_margin:
33+
soft_margin: 0.3 # [m]
34+
hard_margin: 0.2 # [m]
35+
hard_margin_for_parked_vehicle: 0.7 # [m]
3236
max_expand_ratio: 0.0 # [-]
3337
envelope_buffer_margin: 0.5 # [m]
34-
avoid_margin_lateral: 0.7 # [m]
35-
safety_buffer_lateral: 0.3 # [m]
3638
safety_buffer_longitudinal: 0.0 # [m]
3739
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
3840
truck:
3941
execute_num: 1
4042
moving_speed_threshold: 1.0 # 3.6km/h
4143
moving_time_threshold: 2.0
44+
lateral_margin:
45+
soft_margin: 0.3 # [m]
46+
hard_margin: 0.2 # [m]
47+
hard_margin_for_parked_vehicle: 0.7 # [m]
4248
max_expand_ratio: 0.0
4349
envelope_buffer_margin: 0.5
44-
avoid_margin_lateral: 0.9
45-
safety_buffer_lateral: 0.1
4650
safety_buffer_longitudinal: 0.0
4751
use_conservative_buffer_longitudinal: true
4852
bus:
4953
execute_num: 1
5054
moving_speed_threshold: 1.0 # 3.6km/h
5155
moving_time_threshold: 2.0
56+
lateral_margin:
57+
soft_margin: 0.3 # [m]
58+
hard_margin: 0.2 # [m]
59+
hard_margin_for_parked_vehicle: 0.7 # [m]
5260
max_expand_ratio: 0.0
5361
envelope_buffer_margin: 0.5
54-
avoid_margin_lateral: 0.9
55-
safety_buffer_lateral: 0.1
5662
safety_buffer_longitudinal: 0.0
5763
use_conservative_buffer_longitudinal: true
5864
trailer:
5965
execute_num: 1
6066
moving_speed_threshold: 1.0 # 3.6km/h
6167
moving_time_threshold: 2.0
68+
lateral_margin:
69+
soft_margin: 0.3 # [m]
70+
hard_margin: 0.2 # [m]
71+
hard_margin_for_parked_vehicle: 0.7 # [m]
6272
max_expand_ratio: 0.0
6373
envelope_buffer_margin: 0.5
64-
avoid_margin_lateral: 0.9
65-
safety_buffer_lateral: 0.1
6674
safety_buffer_longitudinal: 0.0
6775
use_conservative_buffer_longitudinal: true
6876
unknown:
6977
execute_num: 1
7078
moving_speed_threshold: 0.28 # 1.0km/h
7179
moving_time_threshold: 1.0
80+
lateral_margin:
81+
soft_margin: 0.7 # [m]
82+
hard_margin: -0.2 # [m]
83+
hard_margin_for_parked_vehicle: -0.2 # [m]
7284
max_expand_ratio: 0.0
7385
envelope_buffer_margin: 0.1
74-
avoid_margin_lateral: 0.7
75-
safety_buffer_lateral: -0.2
7686
safety_buffer_longitudinal: 0.0
7787
use_conservative_buffer_longitudinal: true
7888
bicycle:
7989
execute_num: 1
8090
moving_speed_threshold: 0.28 # 1.0km/h
8191
moving_time_threshold: 1.0
92+
lateral_margin:
93+
soft_margin: 0.7 # [m]
94+
hard_margin: 0.5 # [m]
95+
hard_margin_for_parked_vehicle: 0.5 # [m]
8296
max_expand_ratio: 0.0
8397
envelope_buffer_margin: 0.5
84-
avoid_margin_lateral: 0.7
85-
safety_buffer_lateral: 0.5
8698
safety_buffer_longitudinal: 1.0
8799
use_conservative_buffer_longitudinal: true
88100
motorcycle:
89101
execute_num: 1
90102
moving_speed_threshold: 1.0 # 3.6km/h
91103
moving_time_threshold: 1.0
104+
lateral_margin:
105+
soft_margin: 0.7 # [m]
106+
hard_margin: 0.3 # [m]
107+
hard_margin_for_parked_vehicle: 0.3 # [m]
92108
max_expand_ratio: 0.0
93109
envelope_buffer_margin: 0.5
94-
avoid_margin_lateral: 0.7
95-
safety_buffer_lateral: 0.3
96110
safety_buffer_longitudinal: 1.0
97111
use_conservative_buffer_longitudinal: true
98112
pedestrian:
99113
execute_num: 1
100114
moving_speed_threshold: 0.28 # 1.0km/h
101115
moving_time_threshold: 1.0
116+
lateral_margin:
117+
soft_margin: 0.7 # [m]
118+
hard_margin: 0.5 # [m]
119+
hard_margin_for_parked_vehicle: 0.5 # [m]
102120
max_expand_ratio: 0.0
103121
envelope_buffer_margin: 0.5
104-
avoid_margin_lateral: 0.7
105-
safety_buffer_lateral: 0.5
106122
safety_buffer_longitudinal: 1.0
107123
use_conservative_buffer_longitudinal: true
108124
lower_distance_for_polygon_expansion: 30.0 # [m]
@@ -138,10 +154,12 @@
138154
backward_distance: 10.0 # [m]
139155

140156
# params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
141-
force_avoidance:
157+
avoidance_for_ambiguous_vehicle:
142158
enable: true # [-]
143-
time_threshold: 3.0 # [s]
144-
distance_threshold: 1.0 # [m]
159+
closest_distance_to_wait_and_see: 10.0 # [m]
160+
condition:
161+
time_threshold: 3.0 # [s]
162+
distance_threshold: 1.0 # [m]
145163
ignore_area:
146164
traffic_light:
147165
front_distance: 100.0 # [m]
@@ -176,7 +194,7 @@
176194
check_all_predicted_path: false # [-]
177195
safety_check_backward_distance: 100.0 # [m]
178196
hysteresis_factor_expand_rate: 1.5 # [-]
179-
hysteresis_factor_safe_count: 10 # [-]
197+
hysteresis_factor_safe_count: 3 # [-]
180198
# predicted path parameters
181199
min_velocity: 1.38 # [m/s]
182200
max_velocity: 50.0 # [m/s]
@@ -192,7 +210,7 @@
192210
rear_vehicle_safety_time_margin: 1.0 # [s]
193211
lateral_distance_max_threshold: 2.0 # [m]
194212
longitudinal_distance_min_threshold: 3.0 # [m]
195-
longitudinal_velocity_delta_time: 0.8 # [s]
213+
longitudinal_velocity_delta_time: 0.0 # [s]
196214

197215
# For avoidance maneuver
198216
avoidance:

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

+32-16
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@@ -12,64 +12,80 @@
1212
moving_time_threshold: 1.0 # [s]
1313
max_expand_ratio: 0.0 # [-]
1414
envelope_buffer_margin: 0.3 # [m]
15-
avoid_margin_lateral: 0.0 # [m]
16-
safety_buffer_lateral: 0.0 # [m]
15+
lateral_margin:
16+
soft_margin: 0.0 # [m]
17+
hard_margin: 0.0 # [m]
18+
hard_margin_for_parked_vehicle: 0.0 # [m]
1719
truck:
1820
execute_num: 2
1921
moving_speed_threshold: 1.0 # 3.6km/h
2022
moving_time_threshold: 1.0
2123
max_expand_ratio: 0.0
2224
envelope_buffer_margin: 0.3
23-
avoid_margin_lateral: 0.0
24-
safety_buffer_lateral: 0.0
25+
lateral_margin:
26+
soft_margin: 0.0 # [m]
27+
hard_margin: 0.0 # [m]
28+
hard_margin_for_parked_vehicle: 0.0 # [m]
2529
bus:
2630
execute_num: 2
2731
moving_speed_threshold: 1.0 # 3.6km/h
2832
moving_time_threshold: 1.0
2933
max_expand_ratio: 0.0
3034
envelope_buffer_margin: 0.3
31-
avoid_margin_lateral: 0.0
32-
safety_buffer_lateral: 0.0
35+
lateral_margin:
36+
soft_margin: 0.0 # [m]
37+
hard_margin: 0.0 # [m]
38+
hard_margin_for_parked_vehicle: 0.0 # [m]
3339
trailer:
3440
execute_num: 2
3541
moving_speed_threshold: 1.0 # 3.6km/h
3642
moving_time_threshold: 1.0
3743
max_expand_ratio: 0.0
3844
envelope_buffer_margin: 0.3
39-
avoid_margin_lateral: 0.0
40-
safety_buffer_lateral: 0.0
45+
lateral_margin:
46+
soft_margin: 0.0 # [m]
47+
hard_margin: 0.0 # [m]
48+
hard_margin_for_parked_vehicle: 0.0 # [m]
4149
unknown:
4250
execute_num: 1
4351
moving_speed_threshold: 0.28 # 1.0km/h
4452
moving_time_threshold: 1.0
4553
max_expand_ratio: 0.0
4654
envelope_buffer_margin: 0.3
47-
avoid_margin_lateral: 0.0
48-
safety_buffer_lateral: 0.0
55+
lateral_margin:
56+
soft_margin: 0.0 # [m]
57+
hard_margin: 0.0 # [m]
58+
hard_margin_for_parked_vehicle: 0.0 # [m]
4959
bicycle:
5060
execute_num: 2
5161
moving_speed_threshold: 0.28 # 1.0km/h
5262
moving_time_threshold: 1.0
5363
max_expand_ratio: 0.0
5464
envelope_buffer_margin: 0.8
55-
avoid_margin_lateral: 0.0
56-
safety_buffer_lateral: 1.0
65+
lateral_margin:
66+
soft_margin: 0.0 # [m]
67+
hard_margin: 1.0 # [m]
68+
hard_margin_for_parked_vehicle: 1.0 # [m]
5769
motorcycle:
5870
execute_num: 2
5971
moving_speed_threshold: 1.0 # 3.6km/h
6072
moving_time_threshold: 1.0
6173
max_expand_ratio: 0.0
6274
envelope_buffer_margin: 0.8
63-
avoid_margin_lateral: 0.0
64-
safety_buffer_lateral: 1.0
75+
lateral_margin:
76+
soft_margin: 0.0 # [m]
77+
hard_margin: 1.0 # [m]
78+
hard_margin_for_parked_vehicle: 1.0 # [m]
6579
pedestrian:
6680
execute_num: 2
6781
moving_speed_threshold: 0.28 # 1.0km/h
6882
moving_time_threshold: 1.0
6983
max_expand_ratio: 0.0
7084
envelope_buffer_margin: 0.8
71-
avoid_margin_lateral: 0.0
72-
safety_buffer_lateral: 1.0
85+
lateral_margin:
86+
soft_margin: 0.0 # [m]
87+
hard_margin: 1.0 # [m]
88+
hard_margin_for_parked_vehicle: 1.0 # [m]
7389
lower_distance_for_polygon_expansion: 0.0 # [m]
7490
upper_distance_for_polygon_expansion: 1.0 # [m]
7591

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

+1
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@@ -7,6 +7,7 @@
77
th_stopped_time: 1.0
88
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
99
collision_check_margin_from_front_object: 5.0
10+
extra_width_margin_for_rear_obstacle: 0.5
1011
th_moving_object_velocity: 1.0
1112
object_types_to_check_for_path_generation:
1213
check_car: true

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

+1-1
Original file line numberDiff line numberDiff line change
@@ -75,7 +75,7 @@
7575
occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
7676
slow_down_velocity: 1.0 # [m/s]
7777
time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown
78-
min_size: 0.5 # [m] minimum size of an occlusion (square side size)
78+
min_size: 1.0 # [m] minimum size of an occlusion (square side size)
7979
free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid
8080
occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid
8181
ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored

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

+1
Original file line numberDiff line numberDiff line change
@@ -8,3 +8,4 @@
88
hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection
99
decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled
1010
minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision
11+
ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)

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

+1
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,7 @@
1818
# if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
1919
predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
2020
distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
21+
cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
2122

2223
overlap:
2324
minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered

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