Merge pull request #247 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.14.0 with tier4/main
tier4 · Oct 16, 2023 · ae2ad1a · ae2ad1a
2 parents 8145888 + 729325b
commit ae2ad1a
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Showing 22 changed files with 139 additions and 61 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
@@ -9,6 +9,9 @@
     # NDT reference frame
     ndt_base_frame: "ndt_base_link"
 
+    # map frame
+    map_frame: "map"
+
     # Subscriber queue size
     input_sensor_points_queue_size: 1
 
@@ -38,7 +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
 
     # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
     lidar_topic_timeout_sec: 1.0
@@ -53,7 +56,7 @@
     num_threads: 4
 
     # The covariance of output pose
-    # Do note that this covariance matrix is empirically derived
+    # Note that this covariance matrix is empirically derived
     output_pose_covariance:
       [
         0.0225, 0.0,   0.0,   0.0,      0.0,      0.0,
@@ -86,5 +89,5 @@
     # 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]
+    # The execution time which means probably NDT cannot matches scans properly. [ms]
+    critical_upper_bound_exe_time_ms: 100
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/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,6 +16,7 @@
         motorcycle: true
         pedestrian: false
 
+        max_obstacle_vel: 100.0 # [m/s]
         min_obstacle_vel: 0.0 # [m/s]
 
         successive_num_to_entry_dynamic_avoidance_condition: 5

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
@@ -12,14 +12,14 @@
         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"
+        prioritize_goals_before_objects: true
         parking_policy: "left_side" # "left_side" or "right_side"
-        forward_goal_search_length: 20.0
+        forward_goal_search_length: 40.0
         backward_goal_search_length: 20.0
         goal_search_interval: 2.0
         longitudinal_margin: 3.0
-        max_lateral_offset: 0.5
-        lateral_offset_interval: 0.25
+        max_lateral_offset: 1.0
+        lateral_offset_interval: 0.5
         ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.75
 
@@ -41,12 +41,14 @@
 
       # pull over
       pull_over:
-        minimum_request_length: 100.0
+        minimum_request_length: 0.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0
         maximum_deceleration: 1.0
         maximum_jerk: 1.0
+        path_priority: "efficient_path" # "efficient_path" or "close_goal"
+        efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking)
 
         # shift parking
         shift_parking:
@@ -116,7 +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
@@ -162,11 +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
@@ -28,15 +28,28 @@
 
       # safety check
       safety_check:
-        expected_front_deceleration: -1.0
-        expected_rear_deceleration: -1.0
-        expected_front_deceleration_for_abort: -1.0
-        expected_rear_deceleration_for_abort: -2.0
-        rear_vehicle_reaction_time: 2.0
-        rear_vehicle_safety_time_margin: 1.0
-        lateral_distance_max_threshold: 2.0
-        longitudinal_distance_min_threshold: 3.0
-        longitudinal_velocity_delta_time: 0.8
+        allow_loose_check_for_cancel: true
+        execution:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -1.0
+          rear_vehicle_reaction_time: 2.0
+          rear_vehicle_safety_time_margin: 1.0
+          lateral_distance_max_threshold: 2.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.8
+        cancel:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.5
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 2.5
+          longitudinal_velocity_delta_time: 0.6
+
+        # lane expansion for object filtering
+        lane_expansion:
+          left_offset: 0.0 # [m]
+          right_offset: 0.0 # [m]
 
       # lateral acceleration map
       lateral_acceleration:

diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -5,7 +5,7 @@
   ros__parameters:
     external_request_lane_change_left:
       enable_module: false
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -14,7 +14,7 @@
 
     external_request_lane_change_right:
       enable_module: false
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -23,7 +23,7 @@
 
     lane_change_left:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -32,7 +32,7 @@
 
     lane_change_right:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -41,7 +41,7 @@
 
     start_planner:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -50,7 +50,7 @@
 
     side_shift:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -59,7 +59,7 @@
 
     goal_planner:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
@@ -68,7 +68,7 @@
 
     avoidance:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -77,7 +77,7 @@
 
     avoidance_by_lc:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -86,7 +86,7 @@
 
     dynamic_avoidance:
       enable_module: false
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: true

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
@@ -7,7 +7,7 @@
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       th_moving_object_velocity: 1.0
-      th_distance_to_middle_of_the_road: 0.1
+      th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
@@ -21,7 +21,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
-      divide_pull_out_path: false
+      divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0
       lane_departure_margin: 0.2
@@ -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/...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -8,4 +8,4 @@
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
-      enable_rtc: true # 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.
+      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.
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
@@ -5,7 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
-        enable_rtc: true # 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.
+        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.
 
       # param for stop position
       stop_position:
@@ -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/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -8,4 +8,4 @@
       state_clear_time: 2.0
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
-      enable_rtc: true # 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.
+      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.