Merge branch 'main' into feat/ndt_align_service_tpe

autowarefoundation · Oct 5, 2023 · 415af7c · 415af7c
2 parents d88d925 + 0ac076d
commit 415af7c
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Showing 13 changed files with 75 additions and 18 deletions.
diff --git a/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml b/autoware_launch/config/control/predicted_path_checker/predicted_path_checker.param.yaml
@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    # Node
+    update_rate: 10.0
+    delay_time: 0.17
+    max_deceleration: 1.5
+    resample_interval: 0.5
+    stop_margin: 0.5 # [m]
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
+    min_trajectory_check_length: 1.5 # [m]
+    trajectory_check_time: 3.0
+    distinct_point_distance_threshold: 0.3
+    distinct_point_yaw_threshold: 5.0 # [deg]
+    filtering_distance_threshold: 1.5 # [m]
+    use_object_prediction: true
+
+    collision_checker_params:
+      width_margin: 0.2
+      chattering_threshold: 0.2
+      z_axis_filtering_buffer: 0.3
+      enable_z_axis_obstacle_filtering: false
diff --git a/autoware_launch/config/localization/localization_error_monitor.param.yaml b/autoware_launch/config/localization/localization_error_monitor.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     scale: 3.0
-    error_ellipse_size: 1.0
-    warn_ellipse_size: 0.8
+    error_ellipse_size: 1.5
+    warn_ellipse_size: 1.2
     error_ellipse_size_lateral_direction: 0.3
     warn_ellipse_size_lateral_direction: 0.25
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -41,7 +41,7 @@
     converged_param_nearest_voxel_transformation_likelihood: 2.3
 
     # The number of particles to estimate initial pose
-    initial_estimate_particles_num: 100
+    initial_estimate_particles_num: 200
 
     # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
     # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.

diff --git a/...ition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/...ition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    min_points_num:
+    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [10,     10,  10,    10,         10,10,    10,         10]
+
+    max_points_num:
+    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [10,     10,  10,    10,         10,10,    10,         10]
+
+    min_points_and_distance_ratio:
+    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [800.0,     880.0,     800.0,    800.0,         800.0, 800.0,    800.0,         800.0]
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
@@ -139,12 +139,16 @@
         check_other_object: true                         # [-]
         # collision check parameters
         check_all_predicted_path: false                  # [-]
-        time_resolution: 0.5                             # [s]
-        time_horizon_for_front_object: 3.0               # [s]
-        time_horizon_for_rear_object: 10.0               # [s]
         safety_check_backward_distance: 100.0            # [m]
         hysteresis_factor_expand_rate: 1.5               # [-]
         hysteresis_factor_safe_count: 10                 # [-]
+        # predicted path parameters
+        min_velocity: 1.38                               # [m/s]
+        max_velocity: 50.0                               # [m/s]
+        time_resolution: 0.5                             # [s]
+        time_horizon_for_front_object: 3.0               # [s]
+        time_horizon_for_rear_object: 10.0               # [s]
+        delay_until_departure: 0.0                       # [s]
         # rss parameters
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]

diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -118,7 +118,7 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
-          min_velocity: 0.0
+          min_velocity: 1.0
           acceleration: 1.0
           max_velocity: 1.0
           time_horizon_for_front_object: 10.0
@@ -164,11 +164,11 @@
           check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
-            rear_vehicle_reaction_time: 1.0
+            rear_vehicle_reaction_time: 2.0
             rear_vehicle_safety_time_margin: 1.0
-            lateral_distance_max_threshold: 1.0
-            longitudinal_distance_min_threshold: 1.0
-            longitudinal_velocity_delta_time: 1.0
+            lateral_distance_max_threshold: 2.0
+            longitudinal_distance_min_threshold: 3.0
+            longitudinal_velocity_delta_time: 0.8
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           # temporary

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -38,6 +38,11 @@
         longitudinal_distance_min_threshold: 3.0
         longitudinal_velocity_delta_time: 0.8
 
+        # lane expansion for object filtering
+        lane_expansion:
+          left_offset: 0.0 # [m]
+          right_offset: 0.0 # [m]
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -127,11 +127,11 @@
           check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
-            rear_vehicle_reaction_time: 1.0
+            rear_vehicle_reaction_time: 2.0
             rear_vehicle_safety_time_margin: 1.0
-            lateral_distance_max_threshold: 1.0
-            longitudinal_distance_min_threshold: 1.0
-            longitudinal_velocity_delta_time: 1.0
+            lateral_distance_max_threshold: 2.0
+            longitudinal_distance_min_threshold: 3.0
+            longitudinal_velocity_delta_time: 0.8
           # hysteresis factor to expand/shrink polygon
           hysteresis_factor_expand_rate: 1.0
           # temporary

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
@@ -54,7 +54,9 @@
         ## param for yielding
         disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
         disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
-        timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
+        timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for target object filtering

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
@@ -54,6 +54,11 @@
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
         stop_release_margin_time: 1.5 # [s]
         temporal_stop_before_attention_area: false
+        absence_traffic_light:
+          creep_velocity: 1.388 # [m/s]
+          maximum_peeking_distance: 6.0 # [m]
+        attention_lane_crop_curvature_threshold: 0.25
+        attention_lane_curvature_calculation_ds: 0.5
 
       enable_rtc:
         intersection: true # 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

diff --git a/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -24,8 +24,7 @@
 
       action:  # action to insert in the path if an object causes a conflict at an overlap
         skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
-        strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego
-                     # if false, ego stops just before entering a lane but may then be overlapping another lane.
+        precision: 0.1  # [m] precision when inserting a stop pose in the path
         distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
         slowdown:
           distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -5,6 +5,7 @@
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -42,5 +43,7 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
+    <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
+    <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -48,6 +48,10 @@
       name="object_recognition_detection_fusion_sync_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml"
+    />
     <arg
       name="object_recognition_prediction_map_based_prediction_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"