diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index 1a6c26cd9c..9bc62d3f91 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -1,8 +1,5 @@
/**:
ros__parameters:
- # Use dynamic map loading
- use_dynamic_map_loading: true
-
# Vehicle reference frame
base_frame: "base_link"
diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
index ba4c032d3e..b4efbec970 100644
--- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml
+++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -3,7 +3,6 @@
enable_whole_load: true
enable_downsampled_whole_load: false
enable_partial_load: true
- enable_differential_load: true
enable_selected_load: false
# only used when downsample_whole_load enabled
diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index 69ff96a263..fe4d2a51ec 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -13,6 +13,9 @@
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
+ check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints
+ max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths
+ min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve
# parameter for shoulder lane prediction
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index d50b1ad42c..0618185dcf 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -29,41 +29,41 @@
car:
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
- moving_time_threshold: 1.0 # [s]
+ moving_time_threshold: 2.0 # [s]
max_expand_ratio: 0.0 # [-]
- envelope_buffer_margin: 0.3 # [m]
- avoid_margin_lateral: 1.0 # [m]
- safety_buffer_lateral: 0.7 # [m]
+ envelope_buffer_margin: 0.5 # [m]
+ avoid_margin_lateral: 0.7 # [m]
+ safety_buffer_lateral: 0.3 # [m]
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:
execute_num: 1
- moving_speed_threshold: 1.0 # 3.6km/h
- moving_time_threshold: 1.0
+ moving_speed_threshold: 2.0 # 7.2km/h
+ moving_time_threshold: 2.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.3
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 0.7
+ envelope_buffer_margin: 0.5
+ avoid_margin_lateral: 0.9
+ safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
execute_num: 1
- moving_speed_threshold: 1.0 # 3.6km/h
- moving_time_threshold: 1.0
+ moving_speed_threshold: 2.0 # 7.2km/h
+ moving_time_threshold: 2.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.3
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 0.7
+ envelope_buffer_margin: 0.5
+ avoid_margin_lateral: 0.9
+ safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
execute_num: 1
- moving_speed_threshold: 1.0 # 3.6km/h
- moving_time_threshold: 1.0
+ moving_speed_threshold: 2.0 # 7.2km/h
+ moving_time_threshold: 2.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.3
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 0.7
+ envelope_buffer_margin: 0.5
+ avoid_margin_lateral: 0.9
+ safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
@@ -71,9 +71,9 @@
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.3
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 0.7
+ envelope_buffer_margin: 0.1
+ avoid_margin_lateral: 0.7
+ safety_buffer_lateral: -0.2
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
@@ -81,9 +81,9 @@
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.8
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 1.0
+ envelope_buffer_margin: 0.5
+ avoid_margin_lateral: 0.7
+ safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
@@ -91,9 +91,9 @@
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.8
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 1.0
+ envelope_buffer_margin: 0.5
+ avoid_margin_lateral: 0.7
+ safety_buffer_lateral: 0.3
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
@@ -101,9 +101,9 @@
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
- envelope_buffer_margin: 0.8
- avoid_margin_lateral: 1.0
- safety_buffer_lateral: 1.0
+ envelope_buffer_margin: 0.5
+ avoid_margin_lateral: 0.7
+ safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
lower_distance_for_polygon_expansion: 30.0 # [m]
@@ -139,8 +139,9 @@
# 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]
@@ -188,7 +189,7 @@
expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
rear_vehicle_safety_time_margin: 1.0 # [s]
- lateral_distance_max_threshold: 0.75 # [m]
+ lateral_distance_max_threshold: 2.0 # [m]
longitudinal_distance_min_threshold: 3.0 # [m]
longitudinal_velocity_delta_time: 0.8 # [s]
@@ -216,7 +217,7 @@
return_dead_line:
goal:
enable: true # [-]
- buffer: 25.0 # [m]
+ buffer: 30.0 # [m]
traffic_light:
enable: true # [-]
buffer: 3.0 # [m]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index 0558f6c606..f3393ff5a4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -13,7 +13,7 @@
smoothing:
curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average
max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length
- extra_arc_length: 2.0 # [m] extra arc length where an expansion distance is initially applied
+ arc_length_range: 2.0 # [m] arc length range where an expansion distance is initially applied
ego:
extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index 854c29aa89..0a563498be 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -38,7 +38,7 @@
crossing_object:
min_overtaking_object_vel: 1.0
max_overtaking_object_angle: 1.05
- min_oncoming_object_vel: 0.0
+ min_oncoming_object_vel: 1.0
max_oncoming_object_angle: 0.523
front_object:
@@ -46,25 +46,32 @@
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.
+ stopped_object:
+ max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller 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]
- lat_offset_from_obstacle: 0.8 # [m]
+ lat_offset_from_obstacle: 1.0 # [m]
max_lat_offset_to_avoid: 0.5 # [m]
max_time_for_object_lat_shift: 0.0 # [s]
lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
+ max_ego_lat_acc: 0.3 # [m/ss]
+ max_ego_lat_jerk: 0.3 # [m/sss]
+ delay_time_ego_shift: 1.0 # [s]
+
# for same directional object
overtaking_object:
max_time_to_collision: 40.0 # [s]
- start_duration_to_avoid: 2.0 # [s]
- end_duration_to_avoid: 4.0 # [s]
+ start_duration_to_avoid: 1.0 # [s]
+ end_duration_to_avoid: 1.0 # [s]
duration_to_hold_avoidance: 3.0 # [s]
# for opposite directional object
oncoming_object:
max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
- start_duration_to_avoid: 12.0 # [s]
+ start_duration_to_avoid: 1.0 # [s]
end_duration_to_avoid: 0.0 # [s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 366c093901..57899fada8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -57,14 +57,14 @@
# lane expansion for object filtering
lane_expansion:
- left_offset: 0.0 # [m]
- right_offset: 0.0 # [m]
+ left_offset: 1.0 # [m]
+ right_offset: 1.0 # [m]
# lateral acceleration map
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]
- min_values: [0.15, 0.15, 0.15]
- max_values: [0.5, 0.5, 0.5]
+ min_values: [0.4, 0.4, 0.4]
+ max_values: [0.65, 0.65, 0.65]
# target object
target_object:
@@ -72,7 +72,7 @@
truck: true
bus: true
trailer: true
- unknown: true
+ unknown: false
bicycle: true
motorcycle: true
pedestrian: true
@@ -80,14 +80,14 @@
# collision check
enable_prepare_segment_collision_check: false
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
- check_objects_on_current_lanes: true
- check_objects_on_other_lanes: true
+ check_objects_on_current_lanes: false
+ check_objects_on_other_lanes: false
use_all_predicted_path: true
# lane change regulations
regulation:
- crosswalk: false
- intersection: false
+ crosswalk: true
+ intersection: true
traffic_light: true
# ego vehicle stuck detection
@@ -107,4 +107,4 @@
finish_judge_lateral_threshold: 0.2 # [m]
# debug
- publish_debug_marker: false
+ publish_debug_marker: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index aa51c38b55..b31506918a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -2,6 +2,7 @@
ros__parameters:
forward_path_length: 1000.0
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
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index e7bdda45de..240963309e 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -53,8 +53,8 @@
stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
## param for yielding
- disable_stop_for_yield_cancel: false # for the crosswalks with traffic signal
- disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
+ disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
+ disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
# If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
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]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 997addd48d..6fc136c512 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -23,8 +23,7 @@
stuck_vehicle_velocity_threshold: 0.833
# enable_front_car_decel_prediction: false
# assumed_front_car_decel: 1.0
- timeout_private_area: 3.0
- enable_private_area_stuck_disregard: false
+ disable_against_private_lane: true
yield_stuck:
turn_direction:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index ccd263bf3a..86bcf34382 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -4,7 +4,7 @@
detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
use_partition_lanelet: true # [-] whether to use partition lanelet map data
suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
- specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates
+ specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates
stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
index c804cea577..8e215a1bcf 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -17,7 +17,7 @@
# params for stop position
stop_position:
max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m]
- max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+ max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m]
min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m]
hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m]
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 49156fba51..3a968f0f27 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -127,8 +127,9 @@
-
+
-
+
+