chore: sync awf-latest-x1

autoware_launch/config/map/pointcloud_map_loader.param.yaml

@@ -4,6 +4,7 @@
     enable_downsampled_whole_load: false
     enable_partial_load: true
     enable_differential_load: true
+    enable_selected_load: false
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]

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

@@ -1,15 +1,16 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 100.0
+      minimum_request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
       pull_over_velocity: 3.0
       pull_over_minimum_velocity: 1.38
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      maximum_deceleration: 0.5
+      maximum_deceleration: 1.0
+      maximum_jerk: 1.0
       # goal research
       enable_goal_research: true
       search_priority: "efficient_path" # "efficient_path" or "close_goal"

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

@@ -3,8 +3,10 @@
     common:
       planning_algorithm: "pid_base" # currently supported algorithm is "pid_base"
 
-      is_showing_debug_info: false
-      disable_stop_planning: false # true
+      enable_debug_info: false
+      enable_calculation_time_info: false
+
+      enable_slow_down_planning: false
 
       # longitudinal info
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
@@ -13,25 +15,42 @@
       safe_distance_margin : 6.0 # 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]
 
-      lpf_gain_for_accel: 0.2 # gain of low pass filter for ego acceleration [-]
-
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
-      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
-      cruise_obstacle_type:
+      stop_obstacle_type:
         unknown: true
         car: true
         truck: true
         bus: true
         trailer: true
         motorcycle: true
         bicycle: true
-        pedestrian: false
+        pedestrian: true
 
-      stop_obstacle_type:
+      cruise_obstacle_type:
+        inside:
+          unknown: true
+          car: true
+          truck: true
+          bus: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          pedestrian: false
+
+        outside:
+          unknown: false
+          car: true
+          truck: true
+          bus: true
+          trailer: true
+          motorcycle: true
+          bicycle: false
+          pedestrian: false
+
+      slow_down_obstacle_type:
         unknown: true
         car: true
         truck: true
@@ -41,98 +60,111 @@
         bicycle: true
         pedestrian: true
 
-    obstacle_filtering:
-      rough_detection_area_expand_width : 3.0 # rough lateral margin for rough detection area expansion [m]
-      detection_area_expand_width : 0.0 # lateral margin for precise detection area expansion
+    behavior_determination:
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
 
-      # if crossing vehicle is decided as target obstacles or not
-      crossing_obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
-      crossing_obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
-      collision_time_margin : 8.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
-
-      outside_rough_detection_area_expand_width : 0.5 # rough lateral margin for rough detection area expansion for obstacles outside the trajectory [m]
-      outside_obstacle_min_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
-      ego_obstacle_overlap_time_threshold : 1.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
-      max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
+      goal_extension_length: 5.0 # extension length for collision check around the goal
+      goal_extension_interval: 1.0 # extension interval for collision check around the goal
 
       prediction_resampling_time_interval: 0.1
       prediction_resampling_time_horizon: 10.0
 
-      goal_extension_length: 5.0 # extension length for collision check around the goal
-      goal_extension_interval: 1.0 # extension interval for collision check around the goal
-
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
-      ignored_outside_obstacle_type:
-        unknown: true
-        car: false
-        truck: false
-        bus: false
-        trailer: false
-        motorcycle: false
-        bicycle: true
-        pedestrian: true
-
-    pid_based_planner:
-      use_velocity_limit_based_planner: true
-      error_function_type: quadratic # choose from linear, quadratic
-
-      velocity_limit_based_planner:
-          # PID gains to keep safe distance with the front vehicle
-          kp: 10.0
-          ki: 0.0
-          kd: 2.0
-
-          output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
-          vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]
-
-          enable_jerk_limit_to_output_acc: false
-
-          disable_target_acceleration: true
-
-      velocity_insertion_based_planner:
-          kp_acc: 6.0
-          ki_acc: 0.0
-          kd_acc: 2.0
-
-          kp_jerk: 20.0
-          ki_jerk: 0.0
-          kd_jerk: 0.0
-
-          output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
-          output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
-
-          enable_jerk_limit_to_output_acc: true
-
-      min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
-      min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s]
-      time_to_evaluate_rss: 0.0
-
-      lpf_normalized_error_cruise_dist_gain: 0.2
-
-    optimization_based_planner:
-      dense_resampling_time_interval: 0.2
-      sparse_resampling_time_interval: 2.0
-      dense_time_horizon: 5.0
-      max_time_horizon: 25.0
-      velocity_margin: 0.2 #[m/s]
-
-      # Parameters for safe distance
-      t_dangerous: 0.5
-
-      # For initial Motion
-      replan_vel_deviation: 5.0         # 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_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]
+      # hysteresis for cruise and stop
+      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
-      # Weights for optimization
-      max_s_weight: 100.0
-      max_v_weight: 1.0
-      over_s_safety_weight:  1000000.0
-      over_s_ideal_weight:  50.0
-      over_v_weight:  500000.0
-      over_a_weight:  5000.0
-      over_j_weight:  10000.0
+      # if crossing vehicle is determined as target obstacles or not
+      crossing_obstacle:
+        obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
+        obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
+
+      stop:
+        max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width
+        crossing_obstacle:
+          collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
+
+      cruise:
+        max_lat_margin: 0.5 # lateral margin between obstacle and trajectory band with ego's width
+        outside_obstacle:
+          obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
+          ego_obstacle_overlap_time_threshold : 1.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
+          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
+
+    cruise:
+      pid_based_planner:
+        use_velocity_limit_based_planner: true
+        error_function_type: quadratic # choose from linear, quadratic
+
+        velocity_limit_based_planner:
+            # PID gains to keep safe distance with the front vehicle
+            kp: 10.0
+            ki: 0.0
+            kd: 2.0
+
+            output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
+            vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]
+
+            enable_jerk_limit_to_output_acc: false
+
+            disable_target_acceleration: true
+
+        velocity_insertion_based_planner:
+            kp_acc: 6.0
+            ki_acc: 0.0
+            kd_acc: 2.0
+
+            kp_jerk: 20.0
+            ki_jerk: 0.0
+            kd_jerk: 0.0
+
+            output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
+            output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
+
+            enable_jerk_limit_to_output_acc: true
+
+        min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
+        min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s]
+        time_to_evaluate_rss: 0.0
+
+        lpf_normalized_error_cruise_dist_gain: 0.2
+
+      optimization_based_planner:
+        dense_resampling_time_interval: 0.2
+        sparse_resampling_time_interval: 2.0
+        dense_time_horizon: 5.0
+        max_time_horizon: 25.0
+        velocity_margin: 0.2 #[m/s]
+
+        # Parameters for safe distance
+        t_dangerous: 0.5
+
+        # For initial Motion
+        replan_vel_deviation: 5.0         # 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_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]
+
+        # Weights for optimization
+        max_s_weight: 100.0
+        max_v_weight: 1.0
+        over_s_safety_weight:  1000000.0
+        over_s_ideal_weight:  50.0
+        over_v_weight:  500000.0
+        over_a_weight:  5000.0
+        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