Merge pull request #357 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.25.0 with tier4/main

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

@@ -11,6 +11,12 @@
       map_frame: "map"
 
 
+    sensor_points:
+      # Required distance of input sensor points. [m]
+      # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
+      required_distance: 10.0
+
+
     ndt:
       # The maximum difference between two consecutive
       # transformations in order to consider convergence

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -11,8 +11,8 @@
         max_x: 150.0
         min_y: -70.0
         max_y: 70.0
-        max_z: 2.5
-        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     common_ground_filter:

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

@@ -0,0 +1,53 @@
+# sample grid map fusion parameters for sample sensor kit
+/**:
+    ros__parameters:
+      # shared parameters
+      shared_config:
+        map_frame: "map"
+        base_link_frame: "base_link"
+        # center of the grid map
+        gridmap_origin_frame: "base_link"
+
+        map_resolution: 0.5 # [m]
+        map_length_x: 150.0 # [m]
+        map_length_y: 150.0 # [m]
+
+      # each grid map parameters
+      ogm_creation_config:
+        height_filter:
+          use_height_filter: true
+          min_height: -1.0
+          max_height: 2.0
+        enable_single_frame_mode: true
+        # use sensor pointcloud to filter obstacle pointcloud
+        filter_obstacle_pointcloud_by_raw_pointcloud: true
+
+        grid_map_type: "OccupancyGridMapFixedBlindSpot"
+        OccupancyGridMapFixedBlindSpot:
+          distance_margin: 1.0
+        OccupancyGridMapProjectiveBlindSpot:
+          projection_dz_threshold: 0.01 # [m] for avoiding null division
+          obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
+          pub_debug_grid: false
+
+      # parameter settings for ogm fusion
+      fusion_config:
+        # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length
+        # Setting1: tune ogm creation parameters
+        raw_pointcloud_topics: # put each sensor's pointcloud topic
+          - "/sensing/lidar/top/pointcloud"
+          - "/sensing/lidar/left/pointcloud"
+          - "/sensing/lidar/right/pointcloud"
+        fusion_input_ogm_topics:
+          - "/perception/occupancy_grid_map/top_lidar/map"
+          - "/perception/occupancy_grid_map/left_lidar/map"
+          - "/perception/occupancy_grid_map/right_lidar/map"
+        # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer"
+        input_ogm_reliabilities:
+          - 1.0
+          - 0.6
+          - 0.6
+
+      # Setting2: tune ogm fusion parameters
+      ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"]
+        fusion_method: "overwrite"

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

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    # 1. fusion parameters
+    fusion_input_ogm_topics: ["topic1", "topic2"]
+    input_ogm_reliabilities: [0.8, 0.2]
+    fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"]
+
+    # 2. synchronization settings
+    match_threshold_sec: 0.01    # 10ms
+    timeout_sec: 0.1             # 100ms
+    input_offset_sec: [0.0, 0.0] # no offset
+
+    # 3. settings for fused fusion map
+    # remember resolution and map size should be same with input maps
+    map_frame_: "map"
+    base_link_frame_: "base_link"
+    grid_map_origin_frame_: "base_link"
+    fusion_map_length_x: 100.0
+    fusion_map_length_y: 100.0
+    fusion_map_resolution: 0.5

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

@@ -9,10 +9,6 @@
       min_jerk: -1.0        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
-    slow_down:
-      min_acc: -1.0         # min deceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]

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

@@ -29,80 +29,96 @@
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
-          avoid_margin_lateral: 0.7                    # [m]
-          safety_buffer_lateral: 0.3                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: -0.2                          # [m]
+            hard_margin_for_parked_vehicle: -0.2       # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.3                           # [m]
+            hard_margin_for_parked_vehicle: 0.3        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.3
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]
@@ -138,10 +154,12 @@
           backward_distance: 10.0                        # [m]
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
-        force_avoidance:
+        avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
-          time_threshold: 3.0                            # [s]
-          distance_threshold: 1.0                        # [m]
+          closest_distance_to_wait_and_see: 10.0         # [m]
+          condition:
+            time_threshold: 3.0                          # [s]
+            distance_threshold: 1.0                      # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]
@@ -176,7 +194,7 @@
         check_all_predicted_path: false                  # [-]
         safety_check_backward_distance: 100.0            # [m]
         hysteresis_factor_expand_rate: 1.5               # [-]
-        hysteresis_factor_safe_count: 10                 # [-]
+        hysteresis_factor_safe_count: 3                  # [-]
         # predicted path parameters
         min_velocity: 1.38                               # [m/s]
         max_velocity: 50.0                               # [m/s]
@@ -192,7 +210,7 @@
         rear_vehicle_safety_time_margin: 1.0             # [s]
         lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
-        longitudinal_velocity_delta_time: 0.8            # [s]
+        longitudinal_velocity_delta_time: 0.0            # [s]
 
       # For avoidance maneuver
       avoidance:

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

@@ -12,64 +12,80 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 0.0                    # [m]
-          safety_buffer_lateral: 0.0                   # [m]
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
           execute_num: 1
           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: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
           execute_num: 2
           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: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
           execute_num: 2
           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: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
           execute_num: 2
           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: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
 

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

@@ -7,6 +7,7 @@
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
+      extra_width_margin_for_rear_obstacle: 0.5
       th_moving_object_velocity: 1.0
       object_types_to_check_for_path_generation:
         check_car: true

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

@@ -75,7 +75,7 @@
         occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
-        min_size: 0.5  # [m] minimum size of an occlusion (square side size)
+        min_size: 1.0  # [m] minimum size of an occlusion (square side size)
         free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
         occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
         ignore_with_red_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored

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

@@ -8,3 +8,4 @@
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
       decision_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being cancelled
       minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
+      ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)

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

@@ -18,6 +18,7 @@
                                    # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
         predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
         distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
+        cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
 
       overlap:
         minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered