Merge pull request #326 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.23.0 with tier4/main

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -1,8 +1,6 @@
 /**:
   ros__parameters:
 
-    publish_diag: false  # if true, diagnostic msg is published
-
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
     #  the next predicted_path is valid.)

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

@@ -13,7 +13,7 @@
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extending --
-    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+    extend_trajectory_for_end_yaw_control: false  # flag of trajectory extending for terminal yaw control
 
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)

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

@@ -69,8 +69,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -3,7 +3,7 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: false
-    check_external_emergency_heartbeat: false
+    check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5

autoware_launch/config/localization/ar_tag_based_localizer.param.yaml

@@ -0,0 +1,40 @@
+/**:
+  ros__parameters:
+    # marker_size
+    marker_size: 0.6
+
+    # target_tag_ids
+    target_tag_ids: ['0','1','2','3','4','5','6']
+
+    # base_covariance
+    #   This value is dynamically scaled according to the distance at which AR tags are detected.
+    base_covariance: [0.2, 0.0, 0.0, 0.0,  0.0,  0.0,
+                      0.0, 0.2, 0.0, 0.0,  0.0,  0.0,
+                      0.0, 0.0, 0.2, 0.0,  0.0,  0.0,
+                      0.0, 0.0, 0.0, 0.02, 0.0,  0.0,
+                      0.0, 0.0, 0.0, 0.0,  0.02, 0.0,
+                      0.0, 0.0, 0.0, 0.0,  0.0,  0.02]
+
+    # Detect AR-Tags within this range and publish the pose of ego vehicle
+    distance_threshold: 13.0  # [m]
+
+    # consider_orientation
+    consider_orientation: false
+
+    # Detector parameters
+    # See https://github.com/pal-robotics/aruco_ros/blob/7787a6794d30c248bc546d1582e65dd47bc40c12/aruco/include/aruco/markerdetector.h#L106-L126
+    detection_mode: "DM_NORMAL"  # select from [DM_NORMAL, DM_FAST, DM_VIDEO_FAST]
+    min_marker_size: 0.02
+
+    # Parameters for comparison with EKF Pose
+    # If the difference between the EKF pose and the current pose is within the range of values set below, the current pose is published.
+    # [How to determine the value]
+    # * ekf_time_tolerance: Since it is abnormal if the data comes too old from EKF, the tentative tolerance value is set at 5 seconds.
+    #                       This value is assumed to be unaffected even if it is increased or decreased by some amount.
+    # * ekf_position_tolerance: Since it is possible that multiple AR tags with the same ID could be placed, the tolerance should be as small as possible.
+    #                           And if the vehicle is running only on odometry in a section without AR tags,
+    #                           it is possible that self-position estimation could be off by a few meters.
+    #                           it should be fixed by AR tag detection, so tolerance should not be smaller than 10 meters.
+    #                           Therefore, the tolerance is set at 10 meters.
+    ekf_time_tolerance: 5.0 # [s]
+    ekf_position_tolerance: 10.0 # [m]

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
     center_line_resolution: 5.0         # [m]
+    lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path

autoware_launch/config/map/pointcloud_map_loader.param.yaml

@@ -7,3 +7,5 @@
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]
+    pcd_paths_or_directory: [$(var pointcloud_map_path)] # Path to the pointcloud map file or directory
+    pcd_metadata_path: $(var pointcloud_map_metadata_path) # Path to pointcloud metadata file

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -14,7 +14,6 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
-    build_only: false # shutdown node after TensorRT engine file is built
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -26,7 +26,7 @@
       iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
-      score_threshold: 0.4
+      score_threshold: 0.35
     omp_params:
       # omp params
       num_threads: 1

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

@@ -19,7 +19,12 @@
     use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
     speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
     acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
-    use_crosswalk_signal: true
+    crosswalk_with_signal:
+      use_crosswalk_signal: true
+      threshold_velocity_assumed_as_stopping: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped
+      # If the pedestrian does not move for X seconds against green signal, the module judge that the pedestrian has no intention to walk.
+      distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order, keys of map
+      timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml

@@ -24,3 +24,6 @@
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
     max_lateral_velocity: 7.0 # [m/s]
+
+    # tracking model parameters
+    tracking_config_directory: $(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -3,3 +3,4 @@
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
     external_priority: false
+    enable_signal_matching: false

autoware_launch/config/planning/preset/default_preset.yaml

@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_avoidance_module
-      default: "false"
+      default: "true"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations
@@ -100,7 +100,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none
@@ -115,7 +115,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "false"
+      default: "true"
 
   # parking modules
   - arg:

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

@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    max_vel: 11.1           # max velocity limit [m/s]
+
     # constraints param for normal driving
     normal:
       min_acc: -1.0         # min deceleration [m/ss]

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

@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 20.0      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter
@@ -26,7 +25,7 @@
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
     engage_velocity: 0.25              # 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_acceleration: 0.5           # 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]
 

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

@@ -26,3 +26,14 @@
       steering_rate: 10.0
       velocity_deviation: 100.0
       distance_deviation: 100.0
+      longitudinal_distance_deviation: 1.0
+
+    parameters:
+      # The required trajectory length is calculated as the distance needed
+      # to stop from the current speed at this deceleration.
+      forward_trajectory_length_acceleration: -3.0
+
+      # An error is raised if the required trajectory length is less than this distance.
+      # Setting it to 0 means an error will occur if even slightly exceeding the end of the path,
+      # therefore, a certain margin is necessary.
+      forward_trajectory_length_margin: 2.0

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

@@ -127,7 +127,7 @@
         object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
-        object_check_shiftable_ratio: 0.6               # [-]
+        object_check_shiftable_ratio: 0.8               # [-]
         object_check_min_road_shoulder_width: 0.5       # [m]
         # lost object compensation
         object_last_seen_threshold: 2.0
@@ -187,6 +187,7 @@
         time_horizon_for_rear_object: 10.0               # [s]
         delay_until_departure: 0.0                       # [s]
         # rss parameters
+        extended_polygon_policy: "along_path"            # [-] select "rectangle" or "along_path"
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
@@ -206,7 +207,7 @@
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
-          max_deviation_from_lane: 0.5                  # [m]
+          max_deviation_from_lane: 0.2                  # [m]
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]

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

@@ -35,10 +35,14 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
+        collision_check_soft_margins: [2.0, 1.5, 1.0]
+        collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
         detection_bound_offset: 15.0
+        outer_road_detection_offset: 1.0
+        inner_road_detection_offset: 0.0
+
 
       # pull over
       pull_over:
@@ -128,7 +132,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -164,7 +168,6 @@
           method: "integral_predicted_polygon"
           keep_unsafe_time: 3.0
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0

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

@@ -6,7 +6,6 @@
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
-      collision_check_distance_from_end: -10.0
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.5
@@ -39,6 +38,7 @@
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0
       # turns signal
+      prepare_time_before_start: 0.0
       th_turn_signal_on_lateral_offset: 1.0
       intersection_search_length: 30.0
       length_ratio_for_turn_signal_deactivation_near_intersection: 0.5
@@ -93,7 +93,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 10.0
@@ -127,7 +127,6 @@
           # safety check configuration
           enable_safety_check: true
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0

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

@@ -4,7 +4,7 @@
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
       backward_length: 50.0 # [m]
-      ignore_width_from_center_line: 0.7 # [m]
+      ignore_width_from_center_line: 0.0 # [m]
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]

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

@@ -41,7 +41,7 @@
         ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
-        ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
 
         no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
@@ -53,11 +53,10 @@
         stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
         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)
         ## param for yielding
-        disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
         disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
         # 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.
-        distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
-        timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]
+        distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
+        timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # param for target object filtering

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

@@ -15,6 +15,14 @@
         enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -27,6 +35,14 @@
         disable_against_private_lane: true
 
       yield_stuck:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -37,6 +53,14 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          unknown: false
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
@@ -56,7 +80,9 @@
           duration: 3.0
           object_dist_to_stopline: 10.0
         ignore_on_amber_traffic_light:
-          object_expected_deceleration: 2.0
+          object_expected_deceleration:
+            car: 2.0
+            bike: 5.0
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
         avoid_collision_by_acceleration:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]