Merge pull request #49 from tier4/sync-awf-latest-x1

chore: sync awf-latest-x1
tier4 · Apr 18, 2023 · 5cf43b7 · 5cf43b7
2 parents 08e9424 + 7b2ecb9
commit 5cf43b7
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diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md
@@ -0,0 +1,40 @@
+## Description
+
+<!-- Write a brief description of this PR. -->
+
+## Tests performed
+
+<!-- Describe how you have tested this PR. -->
+<!-- Although the default value is set to "Not Applicable.", please update this section if the type is either [feat, fix, perf], or if requested by the reviewers. -->
+
+Not applicable.
+
+## Effects on system behavior
+
+<!-- Describe how this PR affects the system behavior. -->
+
+Not applicable.
+
+## Pre-review checklist for the PR author
+
+The PR author **must** check the checkboxes below when creating the PR.
+
+- [ ] I've confirmed the [contribution guidelines].
+- [ ] The PR follows the [pull request guidelines].
+
+## In-review checklist for the PR reviewers
+
+The PR reviewers **must** check the checkboxes below before approval.
+
+- [ ] The PR follows the [pull request guidelines].
+
+## Post-review checklist for the PR author
+
+The PR author **must** check the checkboxes below before merging.
+
+- [ ] There are no open discussions or they are tracked via tickets.
+
+After all checkboxes are checked, anyone who has write access can merge the PR.
+
+[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
+[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/
diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
@@ -0,0 +1,50 @@
+## Description
+
+<!-- Write a brief description of this PR. -->
+
+## Related links
+
+<!-- Write the links related to this PR. Private links should be clearly marked as private, for example, '[FOO COMPANY INTERNAL LINK](https://example.com)'. -->
+
+## Tests performed
+
+<!-- Describe how you have tested this PR. -->
+
+## Notes for reviewers
+
+<!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. -->
+
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters. -->
+
+## Effects on system behavior
+
+<!-- Describe how this PR affects the system behavior. -->
+
+## Pre-review checklist for the PR author
+
+The PR author **must** check the checkboxes below when creating the PR.
+
+- [ ] I've confirmed the [contribution guidelines].
+- [ ] The PR follows the [pull request guidelines].
+
+## In-review checklist for the PR reviewers
+
+The PR reviewers **must** check the checkboxes below before approval.
+
+- [ ] The PR follows the [pull request guidelines].
+- [ ] The PR has been properly tested.
+- [ ] The PR has been reviewed by the code owners.
+
+## Post-review checklist for the PR author
+
+The PR author **must** check the checkboxes below before merging.
+
+- [ ] There are no open discussions or they are tracked via tickets.
+- [ ] The PR is ready for merge.
+
+After all checkboxes are checked, anyone who has write access can merge the PR.
+
+[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
+[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -8,7 +8,6 @@
       detection_area_left_expand_dist: 1.0              # [m]
       drivable_area_right_bound_offset: 0.0             # [m]
       drivable_area_left_bound_offset: 0.0              # [m]
-      object_envelope_buffer: 0.3                       # [m]
 
       # avoidance module common setting
       enable_bound_clipping: false
@@ -26,14 +25,46 @@
 
       # avoidance is performed for the object type with true
       target_object:
-        car: true
-        truck: true
-        bus: true
-        trailer: true
-        unknown: false
-        bicycle: false
-        motorcycle: false
-        pedestrian: false
+        car:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        truck:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        bus:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        trailer:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        unknown:
+          enable: false
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        bicycle:
+          enable: false
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        motorcycle:
+          enable: false
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        pedestrian:
+          enable: false
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
 
       # For target object filtering
       target_filtering:
@@ -66,7 +97,6 @@
         # avoidance lateral parameters
         lateral:
           lateral_collision_margin: 1.0                 # [m]
-          lateral_collision_safety_buffer: 0.7          # [m]
           lateral_passable_safety_buffer: 1.0           # [m]
           road_shoulder_safety_margin: 0.3              # [m]
           avoidance_execution_lateral_threshold: 0.499
@@ -75,7 +105,6 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          longitudinal_collision_safety_buffer: 0.0     # [m]
           min_prepare_distance: 1.0                     # [m]
           min_avoidance_distance: 10.0                  # [m]
           min_nominal_avoidance_speed: 7.0              # [m/s]

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -11,9 +11,9 @@
       decide_path_distance: 10.0
       maximum_deceleration: 1.0
       maximum_jerk: 1.0
-      # goal research
-      enable_goal_research: true
+      # goal search
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
+      parking_policy: "left_side" # "left_side" or "right_side"
       forward_goal_search_length: 20.0
       backward_goal_search_length: 20.0
       goal_search_interval: 2.0

diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -29,7 +29,6 @@
       ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
-      external_input_timeout: 1.0
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for target area & object
@@ -43,4 +42,3 @@
     walkway:
       stop_duration_sec: 1.0 # [s] stop time at stop position
       stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
-      external_input_timeout: 1.0
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -1,31 +1,32 @@
 /**:
   ros__parameters:
     intersection:
-      state_transit_margin_time: 1.0
-      stop_line_margin: 3.0
-      keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
-      stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
-      stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
-      stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
-      intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
-      intersection_max_accel: 0.5 # m/ss
-      detection_area_margin: 0.5 # [m]
-      detection_area_right_margin: 0.5 # [m]
-      detection_area_left_margin: 0.5 # [m]
-      detection_area_length: 200.0 # [m]
-      detection_area_angle_threshold: 0.785 # [rad]
-      min_predicted_path_confidence: 0.05
-      minimum_ego_predicted_velocity: 1.388 # [m/s]
-      collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
-      collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
-      use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
-      assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
-      enable_front_car_decel_prediction: false # By default this feature is disabled
-      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
-      external_input_timeout: 1.0
+      common:
+        detection_area_margin: 0.5 # [m]
+        detection_area_right_margin: 0.5 # [m]
+        detection_area_left_margin: 0.5 # [m]
+        detection_area_length: 200.0 # [m]
+        detection_area_angle_threshold: 0.785 # [rad]
+        stop_line_margin: 3.0
+        intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
+        intersection_max_accel: 0.5 # m/ss
+        stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
+
+      stuck_vehicle:
+        use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
+        stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
+        stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
+        stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
+        enable_front_car_decel_prediction: false # By default this feature is disabled
+        assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
+
+      collision_detection:
+        state_transit_margin_time: 1.0
+        min_predicted_path_confidence: 0.05
+        minimum_ego_predicted_velocity: 1.388 # [m/s]
+        collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+        collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+        keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
 
-    merge_from_private_road:
-      stop_duration_sec: 1.0
     merge_from_private:
-      merge_from_private_area:
-        stop_duration_sec: 1.0
+      stop_duration_sec: 1.0
diff --git a/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -3,6 +3,5 @@
     traffic_light:
       stop_margin: 0.0
       tl_state_timeout: 1.0
-      external_tl_state_timeout: 1.0
       yellow_lamp_period: 2.75
       enable_pass_judge: true
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -6,7 +6,7 @@
       enable_debug_info: false
       enable_calculation_time_info: false
 
-      enable_slow_down_planning: false
+      enable_slow_down_planning: true
 
       # longitudinal info
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
@@ -93,7 +93,7 @@
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
       slow_down:
-        max_lat_margin: 10.0  # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 1.0  # lateral margin between obstacle and trajectory band with ego's width
 
     cruise:
       pid_based_planner:
@@ -160,11 +160,11 @@
         over_j_weight:  10000.0
 
     slow_down:
-      # parameters to calculate slow down velocity
-      max_lateral_margin: 5.0
-      min_lateral_margin: 3.0
-      max_ego_velocity: 10.0
-      min_ego_velocity: 3.0
-
-      # parameter for where to insert slow down point
-      max_deceleration: -2.0
+      # parameters to calculate slow down velocity by linear interpolation
+      min_lat_margin: 0.2
+      max_lat_margin: 1.0
+      min_ego_velocity: 2.0
+      max_ego_velocity: 8.0
+
+      # max deceleration during slow down
+      max_deceleration: -1.0
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2141,6 +2141,13 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /planning/mission_planning/goal
+    - Class: tier4_adapi_rviz_plugins::RouteTool
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rviz/routing/rough_goal
     - Class: rviz_plugins/PedestrianInitialPoseTool
       Pose Topic: /simulation/dummy_perception_publisher/object_info
       Theta std deviation: 0.0872664600610733