diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 766cce6bc4..2fa01e19ba 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -13,7 +13,6 @@
enable_bound_clipping: false
enable_update_path_when_object_is_gone: false
enable_force_avoidance_for_stopped_vehicle: true
- enable_safety_check: true
enable_yield_maneuver: true
enable_yield_maneuver_during_shifting: false
disable_path_update: false
@@ -133,10 +132,18 @@
# For safety check
safety_check:
+ # safety check configuration
+ enable: true # [-]
+ check_current_lane: false # [-]
+ check_shift_side_lane: true # [-]
+ check_other_side_lane: false # [-]
+ check_unavoidable_object: false # [-]
+ check_other_object: true # [-]
+ # collision check parameters
+ check_all_predicted_path: false # [-]
+ time_resolution: 0.5 # [s]
+ time_horizon: 5.0 # [s]
safety_check_backward_distance: 100.0 # [m]
- safety_check_time_horizon: 5.0 # [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_ego_offset: 1.0 # [m]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index 845f9c38e2..336879185f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -1,6 +1,9 @@
/**:
ros__parameters:
dynamic_avoidance:
+ common:
+ enable_debug_info: true
+
# avoidance is performed for the object type with true
target_object:
car: true
@@ -19,6 +22,10 @@
min_obj_lat_offset_to_ego_path: 0.0 # [m]
max_obj_lat_offset_to_ego_path: 1.0 # [m]
+ cut_in_object:
+ min_time_to_start_cut_in: 1.0 # [s]
+ min_lon_offset_ego_to_object: 0.0 # [m]
+
crossing_object:
min_object_vel: 1.0
max_object_angle: 1.05
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index fb70a8a1a0..a51052f0c4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -46,7 +46,7 @@
min_vehicle_brake_for_rss: -2.5 # [m/s^2]
max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
denoise_kernel: 1.0 # [m]
- pub_debug_grid: false
+ possible_object_bbox: [1.0, 2.0] # [m x m]
enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
index 2283477e40..af876b4f1b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
@@ -2,10 +2,9 @@
ros__parameters:
stop_line:
stop_margin: 1.4
- stop_check_dist: 2.0
stop_duration_sec: 1.0
use_initialization_stop_line_state: true
hold_stop_margin_distance: 2.0
debug:
- show_stopline_collision_check: false
+ show_stop_line_collision_check: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
index 730bc3053e..8e77420dd4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -35,3 +35,13 @@
# nearest search
ego_nearest_dist_threshold: 3.0 # [m]
ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+ # replanning & trimming trajectory param outside algorithm
+ replan:
+ enable: true # if true, only perform smoothing when the input changes significantly
+ max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m]
+ max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m]
+ max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m]
+ max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
+ # make max_goal_moving_dist long to keep start point fixed for pull over
+ max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
+ max_delta_time_sec: 1.0 # threshold of delta time for replan [second]
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 7acfa30e6d..1fd99502e3 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,6 +3,7 @@
+
@@ -11,6 +12,7 @@
+
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 97f411924c..297c9acf2f 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1694,32 +1694,6 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection
Value: false
- - Alpha: 0.5
- Autocompute Intensity Bounds: true
- Class: grid_map_rviz_plugin/GridMap
- Color: 200; 200; 200
- Color Layer: color
- Color Transformer: IntensityLayer
- Enabled: false
- Height Layer: elevation
- Height Transformer: Layer
- History Length: 1
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 10
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: IntersectionOcclusion
- Show Grid Lines: false
- Topic:
- Depth: 5
- Durability Policy: Volatile
- Filter size: 10
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid
- Use Rainbow: true
- Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Blind Spot