Merge pull request autowarefoundation#191 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    binary_bayes_filter:
+      probability_matrix:
+        occupied_to_occupied: 0.95
+        occupied_to_free: 0.05
+        free_to_occupied: 0.2
+        free_to_free: 0.8
+      v_ratio: 10.0

autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml

@@ -7,8 +7,14 @@
     # ray-tracing center: main sensor frame is preferable like: "velodyne_top"
     scan_origin_frame: "base_link"
 
-    use_height_filter: true
+    height_filter:
+      use_height_filter: true
+      min_height: -1.0
+      max_height: 2.0
+
     enable_single_frame_mode: false
     map_length: 150.0
     map_width: 150.0
     map_resolution: 0.5
+
+    updater_type: "binary_bayes_filter" # binary_bayes_filter, etc.

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

@@ -3,7 +3,11 @@
     map_length: 150.0     # [m]
     map_resolution: 0.5 # [m]
 
-    use_height_filter: true
+    height_filter:
+      use_height_filter: true
+      min_height: -1.0
+      max_height: 2.0
+
     enable_single_frame_mode: false
     # use sensor pointcloud to filter obstacle pointcloud
     filter_obstacle_pointcloud_by_raw_pointcloud: false
@@ -15,3 +19,5 @@
     gridmap_origin_frame: "base_link"
     # ray-tracing center: main sensor frame is preferable like: "velodyne_top"
     scan_origin_frame: "base_link"
+
+    updater_type: "binary_bayes_filter" # binary_bayes_filter, etc.

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

@@ -33,6 +33,7 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
+          avoid_margin_lateral: 1.0                    # [m]
           safety_buffer_lateral: 0.7                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
@@ -41,6 +42,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
@@ -49,6 +51,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
@@ -57,38 +60,43 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
-          enable: false
+          enable: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
-          enable: false
+          enable: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
-          enable: false
+          enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
-          enable: false
+          enable: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         lower_distance_for_polygon_expansion: 30.0      # [m]

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

@@ -31,7 +31,7 @@
 
     lateral_distance_max_threshold: 1.7
     longitudinal_distance_min_threshold: 3.0
-    longitudinal_velocity_delta_time: 0.3
+    longitudinal_velocity_delta_time: 0.8
 
     expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0

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

@@ -12,7 +12,9 @@
         motorcycle: true
         pedestrian: false
 
-        min_obstacle_vel: 1.0 # [m/s]
+        min_obstacle_vel: 0.0 # [m/s]
+
+        successive_num_to_entry_dynamic_avoidance_condition: 5
 
       drivable_area_generation:
         lat_offset_from_obstacle: 0.8 # [m]
@@ -22,11 +24,11 @@
         overtaking_object:
           max_time_to_collision: 3.0 # [s]
           start_duration_to_avoid: 4.0  # [s]
-          end_duration_to_avoid: 5.0  # [s]
+          end_duration_to_avoid: 8.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
           max_time_to_collision: 3.0 # [s]
-          start_duration_to_avoid: 9.0  # [s]
+          start_duration_to_avoid: 12.0  # [s]
           end_duration_to_avoid: 0.0  # [s]

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
+  <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
@@ -36,5 +37,7 @@
     />
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
+    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+    <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
   </include>
 </launch>

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -11,6 +11,7 @@
   <arg name="vehicle_model"/>
   <arg name="initial_engage_state"/>
   <arg name="vehicle_info_param_file"/>
+  <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
 
   <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
@@ -37,5 +38,7 @@
     <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
     <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.planning_simulator.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
+    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+    <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
   </include>
 </launch>