Merge branch 'main' into autoware_msg

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
     # Enable feature
-    will_out_of_lane_checker: true
-    out_of_lane_checker: true
-    boundary_departure_checker: false
+    will_out_of_lane_checker: false
+    out_of_lane_checker: false
+    boundary_departure_checker: true
 
     # Node
     update_rate: 10.0
@@ -12,7 +12,7 @@
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
-    boundary_types_to_detect: [road_border]
+    boundary_types_to_detect: [curbstone]
 
     # Core
     footprint_margin_scale: 1.0

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
+    time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2
 

autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # clustering parameter
+    angle_threshold: 0.174 # [rad] (10 deg)
+    distance_threshold: 10.0 # [m]
+    velocity_threshold: 4.0 # [m/s]
+
+    # output object settings
+    # set false if you want to use the object information from radar
+    is_fixed_label: true
+    fixed_label: "CAR"
+    is_fixed_size: true
+    size_x: 4.0 # [m]
+    size_y: 1.5 # [m]
+    size_z: 1.5 # [m]

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

@@ -11,3 +11,5 @@
     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]
+
+    using_2d_validator: true

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml

@@ -3,3 +3,9 @@
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -29,5 +29,6 @@
         diff_dist_threshold_to_left_bound: 0.29 #[m]
         diff_dist_threshold_to_right_bound: -0.29 #[m]
       num_continuous_state_transition: 3
+      consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]

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

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    # default tracker models for each class
+    car_tracker: "multi_vehicle_tracker"
+    truck_tracker: "multi_vehicle_tracker"
+    bus_tracker: "multi_vehicle_tracker"
+    trailer_tracker: "multi_vehicle_tracker"
+    pedestrian_tracker: "pedestrian_and_bicycle_tracker"
+    bicycle_tracker: "pedestrian_and_bicycle_tracker"
+    motorcycle_tracker: "pedestrian_and_bicycle_tracker"
+
+    # default tracker node parameters
+    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: false
+    publish_tentative_objects: false
+    diagnostic_warn_delay: 0.5      # [sec]
+    diagnostic_error_delay: 1.0     # [sec]

autoware_launch/config/planning/preset/default_preset.yaml

@@ -30,9 +30,6 @@ launch:
   - arg:
       name: launch_side_shift_module
       default: "true"
-  - arg:
-      name: use_experimental_lane_change_function
-      default: "true"
 
   # behavior velocity modules
   - arg:

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

@@ -7,6 +7,10 @@
       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

@@ -27,7 +27,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -38,7 +37,6 @@
           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:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -49,7 +47,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -60,7 +57,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -71,7 +67,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -82,7 +77,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -93,7 +87,6 @@
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -104,7 +97,6 @@
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -119,6 +111,16 @@
 
       # For target object filtering
       target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: true                                  # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # detection range
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
@@ -137,17 +139,32 @@
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         force_avoidance:
-          enable: false                                  # [-]
-          time_threshold: 1.0                            # [s]
+          enable: true                                   # [-]
+          time_threshold: 3.0                            # [s]
+          distance_threshold: 1.0                        # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]
             crosswalk:
               front_distance: 30.0                       # [m]
               behind_distance: 30.0                      # [m]
 
+        # params for filtering objects that are in intersection
+        intersection:
+          yaw_deviation: 0.349                           # [rad] (default 20.0deg)
+
       # For safety check
       safety_check:
+        # safety check target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: false                                 # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # safety check configuration
         enable: true                                     # [-]
         check_current_lane: false                        # [-]
@@ -190,7 +207,8 @@
           max_deviation_from_lane: 0.5                  # [m]
         # avoidance distance parameters
         longitudinal:
-          prepare_time: 2.0                             # [s]
+          min_prepare_time: 1.0                         # [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]
@@ -214,6 +232,10 @@
         stop_buffer: 1.0                                # [m]
 
       policy:
+        # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver".
+        # "per_shift_line": request approval for each shift line.
+        # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return).
+        make_approval_request: "per_shift_line"
         # policy for vehicle slow down behavior. select "best_effort" or "reliable".
         # "best_effort": slow down deceleration & jerk are limited by constraints.
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.

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

@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 2                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -16,7 +15,6 @@
           avoid_margin_lateral: 0.0                    # [m]
           safety_buffer_lateral: 0.0                   # [m]
         truck:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -25,7 +23,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         bus:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -34,7 +31,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         trailer:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -43,7 +39,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -52,7 +47,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         bicycle:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -61,7 +55,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
         motorcycle:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -70,7 +63,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
         pedestrian:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -80,3 +72,16 @@
           safety_buffer_lateral: 1.0
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
+
+      # For target object filtering
+      target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                    # [-]
+          truck: true                                  # [-]
+          bus: true                                    # [-]
+          trailer: true                                # [-]
+          unknown: true                                # [-]
+          bicycle: false                               # [-]
+          motorcycle: false                            # [-]
+          pedestrian: false                            # [-]

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

@@ -7,7 +7,7 @@
 
     # Dynamic expansion by using the path curvature
     dynamic_expansion:
-      enabled: false
+      enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
       smoothing:
@@ -19,14 +19,14 @@
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
         extra_width: 1.0 # [m] extra length to add to the width
       dynamic_objects:
-        avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+        avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
         extra_footprint_offset:
           front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
           rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
           left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
           right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
       path_preprocessing:
-        max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
         reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
       avoid_linestring:

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

@@ -28,10 +28,12 @@
         cut_in_object:
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
+          min_object_vel: 0.5 # [m/s]
 
         cut_out_object:
           max_time_from_outside_ego_path: 2.0 # [s]
           min_object_lat_vel: 0.3 # [m/s]
+          min_object_vel: 0.5 # [m/s]
 
         crossing_object:
           min_overtaking_object_vel: 1.0
@@ -41,8 +43,11 @@
 
         front_object:
           max_object_angle: 0.785
+          min_object_vel: -0.5               # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
+          max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
       drivable_area_generation:
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]