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Merge pull request #568 from tier4/beta-to-tier4-main-sync
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chore: sync beta branch beta/v0.33 with tier4/main
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tier4-autoware-public-bot[bot] authored Aug 28, 2024
2 parents c46bcdc + 91f473e commit 729924b
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Showing 19 changed files with 119 additions and 68 deletions.
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use_pointcloud_data: true
use_predicted_object_data: false
use_object_velocity_calculation: true
check_autoware_state: true
min_generated_path_length: 0.5
imu_prediction_time_horizon: 1.5
imu_prediction_time_interval: 0.1
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Expand Up @@ -75,4 +75,4 @@
average_num: 1000
steering_offset_limit: 0.02

debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate
debug_publish_predicted_trajectory: true # publish debug predicted trajectory in Frenet coordinate
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system_emergency_heartbeat_timeout: 0.5
use_emergency_handling: true
check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
use_start_request: false
enable_cmd_limit_filter: true
filter_activated_count_threshold: 5
filter_activated_velocity_threshold: 1.0
external_emergency_stop_heartbeat_timeout: 0.0
stop_hold_acceleration: -1.5
emergency_acceleration: -2.4
moderate_stop_service_acceleration: -1.5
stopped_state_entry_duration_time: 0.1
stop_check_duration: 1.0
nominal:
vel_lim: 25.0
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@@ -1,28 +1,21 @@
/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 4
max_voxel_size: 40000
point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
voxel_size: [0.32, 0.32, 10.0]
downsample_factor: 1
encoder_in_feature_size: 9
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
has_variance: true
has_twist: true
trt_precision: fp16
cloud_capacity: 2000000
densification_num_past_frames: 1
densification_world_frame_id: map

# weight files
encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
trt_precision: fp16
cloud_capacity: 2000000
post_process_params:
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
densification_params:
world_frame_id: map
num_past_frames: 1
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consider_only_routable_neighbours: false

reference_path_resolution: 0.5 #[m]

# debug parameters
publish_processing_time: true
publish_processing_time_detail: true
publish_debug_markers: true
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Expand Up @@ -40,8 +40,8 @@
name: "apollo"
short_name: "Lap"
# LIDAR-CAMERA - DNN
# cspell:ignore lidar_pointpainitng pointpainting
lidar_pointpainitng:
# cspell:ignore lidar_pointpainting pointpainting
lidar_pointpainting:
topic: "/perception/object_recognition/detection/pointpainting/objects"
can_spawn_new_tracker: true
optional:
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/**:
ros__parameters:
base_link_frame_id: "base_link"
merge_frame_id: "map"
time_sync_threshold: 0.999
sub_object_timeout_sec: 0.8
publish_interpolated_sub_objects: true #for debug
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use_parkinglot: true
use_objects: true
use_points: true
expand_polygon_size: 1.0
expand_polygon_size: 0.5
size_of_expansion_kernel: 9
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Expand Up @@ -28,6 +28,7 @@
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0 # [-] FOR DEVELOPER
envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER
th_error_eclipse_long_radius : 0.6 # [m]
truck:
th_moving_speed: 1.0
th_moving_time: 2.0
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hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
bus:
th_moving_speed: 1.0
th_moving_time: 2.0
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hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
trailer:
th_moving_speed: 1.0
th_moving_time: 2.0
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hard_margin_for_parked_vehicle: 0.7
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
unknown:
th_moving_speed: 0.28
th_moving_time: 1.0
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hard_margin_for_parked_vehicle: -0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
bicycle:
th_moving_speed: 0.28
th_moving_time: 1.0
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hard_margin_for_parked_vehicle: 0.5
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
motorcycle:
th_moving_speed: 1.0
th_moving_time: 1.0
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hard_margin_for_parked_vehicle: 0.3
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
pedestrian:
th_moving_speed: 0.28
th_moving_time: 1.0
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hard_margin_for_parked_vehicle: 0.5
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER
upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER

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# "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically.
# "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode.
# "ignore" : never avoid it.
policy: "auto" # [-]
policy: "manual" # [-]
condition:
th_stopped_time: 3.0 # [s]
th_moving_distance: 1.0 # [m]
ignore_area:
traffic_light:
front_distance: 100.0 # [m]
front_distance: 20.0 # [m]
crosswalk:
front_distance: 30.0 # [m]
behind_distance: 30.0 # [m]
front_distance: 20.0 # [m]
behind_distance: 0.0 # [m]
wait_and_see:
target_behaviors: ["MERGING", "DEVIATING"] # [-]
th_closest_distance: 10.0 # [m]
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Expand Up @@ -36,7 +36,7 @@
# object recognition
object_recognition:
use_object_recognition: true
collision_check_soft_margins: [2.0, 1.5, 1.0]
collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented.
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
Expand All @@ -55,6 +55,7 @@
maximum_jerk: 1.0
path_priority: "efficient_path" # "efficient_path" or "close_goal"
efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
lane_departure_check_expansion_margin: 0.0

# shift parking
shift_parking:
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use_back: true
adapt_expansion_distance: true
expansion_distance: 0.5
near_goal_distance: 3.0
distance_heuristic_weight: 2.0
smoothness_weight: 0.5
obstacle_distance_weight: 1.75
goal_lat_distance_weight: 5.0
# -- RRT* search Configurations --
rrtstar:
enable_update: true
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Expand Up @@ -6,7 +6,6 @@

backward_length_buffer_for_end_of_lane: 3.0 # [m]
backward_length_buffer_for_blocking_object: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]

lane_changing_lateral_jerk: 0.5 # [m/s3]

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min_longitudinal_acc: -1.0
max_longitudinal_acc: 1.0

skip_process:
longitudinal_distance_diff_threshold:
prepare: 1.0
lane_changing: 1.0

# safety check
safety_check:
allow_loose_check_for_cancel: true
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rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
longitudinal_velocity_delta_time: 0.0
parked:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
rear_vehicle_reaction_time: 1.0
rear_vehicle_safety_time_margin: 0.8
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.0
cancel:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
rear_vehicle_reaction_time: 1.5
rear_vehicle_safety_time_margin: 0.8
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 2.5
longitudinal_velocity_delta_time: 0.6
longitudinal_velocity_delta_time: 0.0
stuck:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
longitudinal_velocity_delta_time: 0.0

# lane expansion for object filtering
lane_expansion:
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general_lanes: false
intersection: true
turns: true
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
stopped_object_velocity_threshold: 1.0 # [m/s]
check_objects_on_current_lanes: false
check_objects_on_other_lanes: false
use_all_predicted_path: true
use_all_predicted_path: false

# lane change regulations
regulation:
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max_lateral_jerk: 100.0 # [m/s3]
overhang_tolerance: 0.0 # [m]
unsafe_hysteresis_threshold: 5 # [/]
deceleration_sampling_num: 5 # [/]

finish_judge_lateral_threshold: 0.2 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]
finish_judge_lateral_threshold: 0.1 # [m]
finish_judge_lateral_angle_deviation: 1.0 # [deg]

# debug
publish_debug_marker: true
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