tier4 · tier4-autoware-public-bot · Jun 18, 2024 · May 22, 2024 · May 22, 2024 · May 23, 2024
@@ -3,6 +3,7 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: false
+    use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1

@@ -16,6 +16,7 @@
 
     # Core
     footprint_margin_scale: 1.0
+    footprint_extra_margin: 0.0
     resample_interval: 0.3
     max_deceleration: 2.8
     delay_time: 1.3

@@ -12,6 +12,9 @@
 
 
     sensor_points:
+      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+      timeout_sec: 1.0
+
       # 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
@@ -52,18 +55,21 @@
 
 
     validation:
-      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
-      lidar_topic_timeout_sec: 1.0
-
       # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
       initial_pose_timeout_sec: 1.0
 
       # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
       initial_pose_distance_tolerance_m: 10.0
 
+      # Tolerance of distance difference from initial pose to result pose. [m]
+      initial_to_result_distance_tolerance_m: 3.0
+
       # The execution time which means probably NDT cannot matches scans properly. [ms]
       critical_upper_bound_exe_time_ms: 100.0
 
+      # Tolerance for the number of times rejected estimation results consecutively
+      skipping_publish_num: 5
+
 
     score_estimation:
       # Converged param type

@@ -1,4 +1,5 @@
 /**:
   ros__parameters:
-    center_line_resolution: 5.0         # [m]
+    center_line_resolution: 5.0                 # [m]
+    use_waypoints: true                         # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
     lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path
@@ -9,3 +9,13 @@
       MOTORCYCLE : false
       BICYCLE : false
       PEDESTRIAN : false
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+       enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
@@ -1,7 +1,10 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 10.0 #[s]
+    prediction_time_horizon:
+      vehicle: 15.0 #[s]
+      pedestrian: 10.0 #[s]
+      unknown: 10.0 #[s]
     lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]

@@ -0,0 +1,82 @@
+/**:
+  ros__parameters:
+    input_channels:
+      detected_objects:
+        topic: "/perception/object_recognition/detection/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "detected_objects"
+          short_name: "all"
+      # LIDAR - rule-based
+      lidar_clustering:
+        topic: "/perception/object_recognition/detection/clustering/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "clustering"
+          short_name: "Lcl"
+      # LIDAR - DNN
+      lidar_centerpoint:
+        topic: "/perception/object_recognition/detection/centerpoint/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_centerpoint_validated:
+        topic: "/perception/object_recognition/detection/centerpoint/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_apollo:
+        topic: "/perception/object_recognition/detection/apollo/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      lidar_apollo_validated:
+        topic: "/perception/object_recognition/detection/apollo/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      # LIDAR-CAMERA - DNN
+      # cspell:ignore lidar_pointpainitng pointpainting
+      lidar_pointpainitng:
+        topic: "/perception/object_recognition/detection/pointpainting/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      lidar_pointpainting_validated:
+        topic: "/perception/object_recognition/detection/pointpainting/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      # CAMERA-LIDAR
+      camera_lidar_fusion:
+        topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "camera_lidar_fusion"
+          short_name: "CLf"
+      # CAMERA-LIDAR+TRACKER
+      detection_by_tracker:
+        topic: "/perception/object_recognition/detection/detection_by_tracker/objects"
+        can_spawn_new_tracker: false
+        optional:
+          name: "detection_by_tracker"
+          short_name: "dbT"
+      # RADAR
+      radar:
+        topic: "/sensing/radar/detected_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar"
+          short_name: "R"
+      radar_far:
+        topic: "/perception/object_recognition/detection/radar/far_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar_far"
+          short_name: "Rf"
@@ -13,11 +13,10 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
-    pass_through_unknown_objects: false
-    publish_untracked_objects: false
 
     # debug parameters
     publish_processing_time: true
     publish_tentative_objects: false
+    publish_debug_markers: true
     diagnostics_warn_delay: 0.5      # [sec]
     diagnostics_error_delay: 1.0     # [sec]
@@ -1,13 +1,13 @@
 launch:
   # behavior path modules
   - arg:
-      name: launch_avoidance_module
+      name: launch_static_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
       default: "true"
   - arg:
-      name: launch_dynamic_avoidance_module
+      name: launch_dynamic_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_sampling_planner_module
@@ -74,15 +74,9 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "true"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
-  - arg:
-      name: launch_dynamic_obstacle_stop_module
-      default: "true"
 
   # motion planning modules
   - arg:
@@ -93,11 +87,22 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
+  # motion velocity planner modules
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
+
   - arg:
       name: motion_stop_planner_type
       default: obstacle_cruise_planner
@@ -106,7 +111,7 @@ launch:
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2

@@ -270,7 +270,7 @@
       constraints:
         # lateral constraints
         lateral:
-          velocity: [1.0, 1.38, 11.1]                   # [m/s]
+          velocity: [1.39, 4.17, 11.1]                  # [m/s]
           max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
           min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
           max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
@@ -293,4 +293,11 @@
 
       # for debug
       debug:
-        marker: false
+        enable_other_objects_marker: false
+        enable_other_objects_info: false
+        enable_detection_area_marker: false
+        enable_drivable_bound_marker: false
+        enable_safety_check_marker: false
+        enable_shift_line_marker: false
+        enable_lane_marker: false
+        enable_misc_marker: false
@@ -19,6 +19,7 @@
     turn_signal_minimum_search_distance: 10.0
     turn_signal_search_time: 3.0
     turn_signal_shift_length_threshold: 0.3
+    turn_signal_remaining_shift_length_threshold: 0.1
     turn_signal_on_swerving: true
 
     enable_akima_spline_first: false

@@ -59,7 +59,7 @@
       priority: 1
       max_module_size: 1
 
-    avoidance:
+    static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -75,7 +75,7 @@
       priority: 3
       max_module_size: 1
 
-    dynamic_avoidance:
+    dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true

@@ -26,7 +26,6 @@
       allow_check_shift_path_lane_departure_override: false
       shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
-      deceleration_interval: 15.0
       maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation"
       lateral_jerk: 0.5
       lateral_acceleration_sampling_num: 3
@@ -36,10 +35,11 @@
       # geometric pull out
       enable_geometric_pull_out: true
       geometric_collision_check_distance_from_end: 0.0
+      arc_path_interval: 1.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
-      arc_path_interval: 1.0
       lane_departure_margin: 0.2
+      lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
       pull_out_max_steer_angle: 0.26  # 15deg
       # search start pose backward
@@ -51,9 +51,6 @@
       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
       # freespace planner
       freespace_planner:
         enable_freespace_planner: true

@@ -3,10 +3,12 @@
     blind_spot:
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
-      backward_length: 50.0 # [m]
-      ignore_width_from_center_line: 0.0 # [m]
-      max_future_movement_time: 10.0 # [second]
-      threshold_yaw_diff: 0.523 # [rad]
+      backward_detection_length: 100.0 # [m]
+      ignore_width_from_center_line: 0.7 # [m]
       adjacent_extend_width: 1.5 # [m]
       opposite_adjacent_extend_width: 1.5 # [m]
-      enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      max_future_movement_time: 10.0 # [second]
+      ttc_min: -5.0 # [s]
+      ttc_max: 5.0 # [s]
+      ttc_ego_minimal_velocity: 5.0 # [m/s]
+      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
@@ -8,5 +8,5 @@
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
       add_stop_duration_buffer : 0.5  # [s] duration where a collision must be continuously detected before a stop decision is added
       remove_stop_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being remove
-      minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
+      minimum_object_distance_from_ego_trajectory: 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)
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    smooth_velocity_before_planning: true  # [-] if true, smooth the velocity profile of the input trajectory before planning
@@ -87,7 +87,8 @@
         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: 0.3 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint
+        max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
         crossing_obstacle:
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
@@ -205,3 +206,15 @@
       lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
       lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
       lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start
+    stop:
+      type_specified_params:
+        labels: # For the listed types, the node try to read the following type specified values
+          - "default"
+          - "unknown"
+        # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined.
+          # limit_min_acc: common_param.yaml/limit.min_acc
+        unknown:
+          limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred.
+          sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop".
+          sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop".
+          abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit.