Merge branch 'main' into add-new-lane-change-parameter

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -3,10 +3,13 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: true
+    limit_imu_path_lat_dev: false
+    limit_imu_path_length: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
+    imu_path_lat_dev_threshold: 1.75
     min_generated_imu_path_length: 0.5
     max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
@@ -37,7 +40,7 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 1.0
+    longitudinal_offset_margin: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0

autoware_launch/config/control/preset/default_preset.yaml

@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: trajectory_follower_node
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "true"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "true"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "true"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "true"
+  - arg:
+      name: launch_collision_detector
+      default: "true"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "true"

autoware_launch/config/control/preset/dlr_control_validator_preset.yaml

@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: none
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "false"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "false"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "false"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "false"
+  - arg:
+      name: launch_collision_detector
+      default: "false"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "false"

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml

@@ -13,6 +13,7 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
+    consider_odometry_uncertainty: false
 
     # debug parameters
     publish_processing_time: true

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

@@ -24,7 +24,7 @@
         use_virtual_ground_point: True
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
-        grid_size_m: 0.1
+        grid_size_m: 0.5
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5

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

@@ -12,8 +12,8 @@
     grid_length_y: 70.0
     grid_position_x: 0.0
     grid_position_y: 0.0
-    maximum_lidar_height_thres: 0.3
-    minimum_lidar_height_thres: -2.2
+    maximum_lidar_height_thres: 2.5  # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame)
+    minimum_lidar_height_thres: 0.0  # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame)
     use_wayarea: true
     use_parkinglot: true
     use_objects: true

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml

@@ -56,10 +56,10 @@
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 1.0 # [m]
-        margin_distance_around_pedestrian: 2.0 # [m]
+        lat_offset_from_obstacle: 0.3 # [m]
+        margin_distance_around_pedestrian: 0.8 # [m]
         predicted_path:
-          end_time_to_consider: 2.0 # [s]
+          end_time_to_consider: 1.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml

@@ -23,9 +23,9 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.7                            # [m]
+            soft_margin: 0.5                            # [m]
             hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.7         # [m]
+            hard_margin_for_parked_vehicle: 0.2         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -34,9 +34,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -67,7 +67,7 @@
           th_moving_time: 1.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: -0.2
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
@@ -76,33 +76,33 @@
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 1.0
+          longitudinal_margin: 0.6
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           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
-          longitudinal_margin: 1.0
+          longitudinal_margin: 0.6
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.3
-            hard_margin_for_parked_vehicle: 0.3
+            hard_margin_for_parked_vehicle: 0.2
           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
-          longitudinal_margin: 1.0
+          longitudinal_margin: 0.6
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
@@ -232,7 +232,7 @@
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
-          max_prepare_time: 3.0                         # [s]
+          max_prepare_time: 2.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER
@@ -294,7 +294,7 @@
           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]
+          max_jerk_values: [3.0, 3.0, 3.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:

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

@@ -139,13 +139,13 @@
           min_velocity: 1.0
           min_acceleration: 1.0
           max_velocity: 1.0
-          time_horizon_for_front_object: 10.0
-          time_horizon_for_rear_object: 10.0
+          time_horizon_for_front_object: 5.0
+          time_horizon_for_rear_object: 5.0
           time_resolution: 0.5
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 10.0
+          safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -179,7 +179,7 @@
           # safety check configuration
           enable_safety_check: true
           method: "integral_predicted_polygon"
-          keep_unsafe_time: 3.0
+          keep_unsafe_time: 0.5
           # collision check parameters
           publish_debug_marker: false
           rss_params:
@@ -192,7 +192,7 @@
             forward_margin: 1.0
             backward_margin: 1.0
             lat_margin: 1.0
-            time_horizon: 10.0
+            time_horizon: 5.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           collision_check_yaw_diff_threshold: 3.1416

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

@@ -1,43 +1,39 @@
 /**:
   ros__parameters:
     lane_change:
-      backward_lane_length: 200.0 #[m]
-      max_prepare_duration: 4.0   #[s]
-      min_prepare_duration: 1.0   #[s]
-
+      backward_lane_length: 200.0
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
       backward_length_from_intersection: 5.0 # [m]
 
-      lane_changing_lateral_jerk: 0.5              # [m/s3]
-
-      minimum_lane_changing_velocity: 2.78        # [m/s]
-      prediction_time_resolution: 0.5           # [s]
-      longitudinal_acceleration_sampling_num: 5
-      lateral_acceleration_sampling_num: 3
-
-      # side walk parked vehicle
-      object_check_min_road_shoulder_width: 0.5  # [m]
-      object_shiftable_ratio_threshold: 0.6
-
       # turn signal
       min_length_for_turn_signal_activation: 10.0 # [m]
-      length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)
-
-      # longitudinal acceleration
-      min_longitudinal_acc: -1.0
-      max_longitudinal_acc: 1.0
 
-      skip_process:
-        longitudinal_distance_diff_threshold:
-          prepare: 1.0
-          lane_changing: 1.0
+      # trajectory generation
+      trajectory:
+        max_prepare_duration: 4.0   #[s]
+        min_prepare_duration: 1.0   #[s]
+        lateral_jerk: 0.5
+        min_longitudinal_acc: -1.0
+        max_longitudinal_acc: 1.0
+        th_prepare_length_diff: 1.0
+        th_lane_changing_length_diff: 1.0
+        min_lane_changing_velocity: 2.78
+        lon_acc_sampling_num: 5
+        lat_acc_sampling_num: 3
+
+      # delay lane change
+      delay_lane_change:
+        enable: true
+        check_only_parked_vehicle: false
+        min_road_shoulder_width: 0.5  # [m]
+        th_parked_vehicle_shift_ratio: 0.6
 
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
         enable_target_lane_bound_check: true
-        collision_check_yaw_diff_threshold: 3.1416
+        stopped_object_velocity_threshold: 1.0 # [m/s]
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
@@ -94,14 +90,16 @@
         pedestrian: true
 
       # collision check
-      enable_collision_check_for_prepare_phase:
-        general_lanes: false
-        intersection: true
-        turns: true
-      stopped_object_velocity_threshold: 1.0 # [m/s]
-      check_objects_on_current_lanes: false
-      check_objects_on_other_lanes: false
-      use_all_predicted_path: false
+      collision_check:
+        enable_for_prepare_phase:
+          general_lanes: false
+          intersection: true
+          turns: true
+        prediction_time_resolution: 0.5
+        yaw_diff_threshold: 3.1416
+        check_current_lanes: false
+        check_other_lanes: false
+        use_all_predicted_paths: false
 
       # lane change regulations
       regulation:

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

@@ -4,8 +4,3 @@
     backward_path_length: 5.0
     behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
-    max_accel: -2.8
-    max_jerk: -5.0
-    system_delay: 0.5
-    delay_response_time: 0.5
-    is_publish_debug_path: false # publish all debug path with lane id in each module