Merge pull request #244 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.13.0 with tier4/main

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -15,6 +15,8 @@
     nominal:
       vel_lim: 25.0
       reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
       lon_acc_lim: [5.0, 4.0]
       lon_jerk_lim: [5.0, 4.0]
       lat_acc_lim: [5.0, 4.0]
@@ -23,6 +25,8 @@
     on_transition:
       vel_lim: 50.0
       reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
       lon_acc_lim: [1.0, 0.9]
       lon_jerk_lim: [0.5, 0.4]
       lat_acc_lim: [2.0, 1.8]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -21,3 +21,12 @@
     proc_stddev_yaw_c: 0.005
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
+
+    # for diagnostics
+    pose_no_update_count_threshold_warn: 50
+    pose_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_warn: 50
+    twist_no_update_count_threshold_error: 250
+
+    # for velocity measurement limitation (Set 0.0 if you want to ignore)
+    threshold_observable_velocity_mps: 0.0 # [m/s]

autoware_launch/config/localization/localization_error_monitor.param.yaml

@@ -4,4 +4,4 @@
     error_ellipse_size: 1.0
     warn_ellipse_size: 0.8
     error_ellipse_size_lateral_direction: 0.3
-    warn_ellipse_size_lateral_direction: 0.2
+    warn_ellipse_size_lateral_direction: 0.25

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -6,6 +6,9 @@
     # Vehicle reference frame
     base_frame: "base_link"
 
+    # NDT reference frame
+    ndt_base_frame: "ndt_base_link"
+
     # Subscriber queue size
     input_sensor_points_queue_size: 1
 
@@ -46,10 +49,6 @@
     # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
     initial_pose_distance_tolerance_m: 10.0
 
-    # neighborhood search method
-    # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
-    neighborhood_search_method: 0
-
     # Number of threads used for parallel computing
     num_threads: 4
 
@@ -80,8 +79,12 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
+    # cspell: ignore degrounded
     # A flag for using scan matching score based on de-grounded LiDAR scan
     estimate_scores_for_degrounded_scan: false
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8
+
+    # The execution time which means probably NDT cannot matches scans properly
+    critical_upper_bound_exe_time_ms: 100 # [ms]

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

@@ -7,9 +7,11 @@
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"
-    max_x: 70.0
-    min_x: -70.0
-    max_y: 70.0
-    min_y: -70.0
-    max_z: 4.5
-    min_z: -4.5
+
+    # low height crop box filter param
+    max_x: 200.0
+    min_x: -200.0
+    max_y: 200.0
+    min_y: -200.0
+    max_z: 2.0
+    min_z: -10.0

autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : true
+      TRUCK : true
+      BUS : true
+      TRAILER : true
+      MOTORCYCLE : true
+      BICYCLE : true
+      PEDESTRIAN : true

autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml

@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # use downsample filter before compare map
-    use_down_sample_filter: False
 
     # voxel size for downsample filter
     down_sample_voxel_size: 0.1

autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -9,3 +9,4 @@
     reroute_time_threshold: 10.0
     minimum_reroute_length: 30.0
     consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
+    check_footprint_inside_lanes: true

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

@@ -7,12 +7,21 @@
     # external velocity limit parameter
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
-    # curve parameters
+    # -- curve parameters  --
+    # common parameters
+    curvature_calculation_distance: 5.0         # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
+    # lateral acceleration limit parameters
+    enable_lateral_acc_limit: true     # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime.
     max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
     min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
+    # steering angle rate limit parameters
+    enable_steering_rate_limit: true         # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
+    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    resample_ds: 0.1                         # distance between trajectory points [m]
+    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
 
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
@@ -48,12 +57,6 @@
     post_sparse_resample_dt: 0.1             # resample time interval for sparse sampling [s]
     post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
 
-    # steering angle rate limit parameters
-    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
-    resample_ds: 0.1                         # distance between trajectory points [m]
-    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
-    curvature_calculation_distance: 1.0      # distance of points while curvature is calculating [m]
-
     # system
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
 

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

@@ -5,10 +5,14 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
+      center_line_path_interval: 1.0
 
       # goal search
       goal_search:
-        search_priority: "efficient_path" # "efficient_path" or "close_goal"
+        goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance"
+        minimum_weighted_distance:
+          lateral_weight: 40.0
+        path_priority: "efficient_path" # "efficient_path" or "close_goal"
         parking_policy: "left_side" # "left_side" or "right_side"
         forward_goal_search_length: 20.0
         backward_goal_search_length: 20.0
@@ -21,8 +25,9 @@
 
       # occupancy grid map
       occupancy_grid:
-        use_occupancy_grid: true
-        use_occupancy_grid_for_longitudinal_margin: false
+        use_occupancy_grid_for_goal_search: true
+        use_occupancy_grid_for_goal_longitudinal_margin: false
+        use_occupancy_grid_for_path_collision_check: false
         occupancy_grid_collision_check_margin: 0.0
         theta_size: 360
         obstacle_threshold: 60
@@ -32,6 +37,7 @@
         use_object_recognition: true
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
+        th_moving_object_velocity: 1.0
 
       # pull over
       pull_over:
@@ -110,20 +116,21 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
+          min_velocity: 0.0
           acceleration: 1.0
-          time_horizon: 10.0
+          max_velocity: 1.0
+          time_horizon_for_front_object: 10.0
+          time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
-          min_slow_speed: 0.0
           delay_until_departure: 1.0
-          target_velocity: 1.0
         # For target object filtering
         target_filtering:
           safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 10.0
           object_check_backward_distance: 100.0
-          ignore_object_velocity_threshold: 0.0
+          ignore_object_velocity_threshold: 1.0
           # ObjectTypesToCheck
           object_types_to_check:
             check_car: true
@@ -150,7 +157,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: true
+          enable_safety_check: false # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
@@ -160,6 +167,8 @@
             lateral_distance_max_threshold: 1.0
             longitudinal_distance_min_threshold: 1.0
             longitudinal_velocity_delta_time: 1.0
+          # hysteresis factor to expand/shrink polygon with the value
+          hysteresis_factor_expand_rate: 1.0
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0

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

@@ -62,6 +62,16 @@
       check_objects_on_other_lanes: true
       use_all_predicted_path: true
 
+      # lane change regulations
+      regulation:
+        crosswalk: false
+        intersection: false
+
+      # ego vehicle stuck detection
+      stuck_detection:
+        velocity: 0.1 # [m/s]
+        stop_time: 3.0 # [s]
+
       # lane change cancel
       cancel:
         enable_on_prepare_phase: true

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

@@ -9,7 +9,7 @@
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
-      priority: 7
+      priority: 6
       max_module_size: 1
 
     external_request_lane_change_right:
@@ -18,7 +18,7 @@
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
-      priority: 7
+      priority: 6
       max_module_size: 1
 
     lane_change_left:
@@ -27,7 +27,7 @@
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
-      priority: 6
+      priority: 5
       max_module_size: 1
 
     lane_change_right:
@@ -36,7 +36,7 @@
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
-      priority: 6
+      priority: 5
       max_module_size: 1
 
     start_planner:
@@ -72,7 +72,7 @@
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
-      priority: 5
+      priority: 4
       max_module_size: 1
 
     avoidance_by_lc:
@@ -81,14 +81,14 @@
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
-      priority: 4
+      priority: 3
       max_module_size: 1
 
     dynamic_avoidance:
       enable_module: false
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      keep_last: false
-      priority: 3
+      keep_last: true
+      priority: 7
       max_module_size: 1