Merge branch 'main' into feat/out_of_lane-more_stable-universe

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

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
     voxel_grid_x: 0.05
@@ -11,7 +12,9 @@
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    prediction_time_horizon: 1.5
-    prediction_time_interval: 0.1
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
     collision_keeping_sec: 0.0
     aeb_hz: 10.0

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

@@ -6,6 +6,8 @@
     check_external_emergency_heartbeat: false
     use_start_request: false
     enable_cmd_limit_filter: true
+    filter_activated_count_threshold: 5
+    filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -24,9 +24,9 @@
 
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 250
+    pose_no_update_count_threshold_error: 100
     twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_error: 100
 
     # for velocity measurement limitation (Set 0.0 if you want to ignore)
     threshold_observable_velocity_mps: 0.0 # [m/s]

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -41,7 +41,12 @@
     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
+
+    # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
+    # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.
+    # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
+    n_startup_trials: 20
 
     # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
     lidar_topic_timeout_sec: 1.0
@@ -67,6 +72,14 @@
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,
       ]
 
+    # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value)
+    use_covariance_estimation: false
+
+    # Offset arrangement in covariance estimation [m]
+    # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
+    initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
+    initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
+
     # Regularization switch
     regularization_enabled: false
 

autoware_launch/config/perception/object_recognition/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]

autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

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

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

@@ -2,6 +2,7 @@
   ros__parameters:
     enable_delay_compensation: true
     prediction_time_horizon: 10.0 #[s]
+    lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
     min_crosswalk_user_velocity: 1.39 #[m/s]

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml

@@ -14,10 +14,10 @@
     max_dist_matrix:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
       [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
-       4.0,     4.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       4.0,     8.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #TRAILER
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml

@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
-    car_tracker: "linear_motion_tracker"
-    truck_tracker: "linear_motion_tracker"
-    bus_tracker: "linear_motion_tracker"
-    trailer_tracker: "linear_motion_tracker"
-    pedestrian_tracker: "linear_motion_tracker"
-    bicycle_tracker: "linear_motion_tracker"
-    motorcycle_tracker: "linear_motion_tracker"
+    car_tracker: "constant_turn_rate_motion_tracker"
+    truck_tracker: "constant_turn_rate_motion_tracker"
+    bus_tracker: "constant_turn_rate_motion_tracker"
+    trailer_tracker: "constant_turn_rate_motion_tracker"
+    pedestrian_tracker: "constant_turn_rate_motion_tracker"
+    bicycle_tracker: "constant_turn_rate_motion_tracker"
+    motorcycle_tracker: "constant_turn_rate_motion_tracker"

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml

@@ -0,0 +1,26 @@
+# general parameters for radar_object_tracker node
+/**:
+  ros__parameters:
+    # basic settings
+    world_frame_id: "map"
+    tracker_lifetime: 1.0  # [sec]
+    measurement_count_threshold: 3 # object will be published if it is tracked more than this threshold
+
+    # delay compensate parameters
+    publish_rate: 10.0
+    enable_delay_compensation: true
+
+    # logging
+    enable_logging: false
+    logging_file_path: "/tmp/association_log.json"
+
+    # filtering
+    ## 1. distance based filtering: remove closer objects than this threshold
+    use_distance_based_noise_filtering: true
+    minimum_range_threshold: 60.0 # [m]
+
+    ## 2. lanelet map based filtering
+    use_map_based_noise_filtering: true
+    max_distance_from_lane: 5.0 # [m]
+    max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
+    max_lateral_velocity: 7.0 # [m/s]

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml

@@ -0,0 +1,36 @@
+default:
+  # This file defines the parameters for the linear motion tracker.
+  # All this parameter coordinate is assumed to be in the vehicle coordinate system.
+  # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle.
+  ekf_params:
+    # random walk noise is used to model the acceleration noise
+    process_noise_std: # [m/s^2]
+      x: 0.5
+      y: 0.5
+      yaw: 0.1
+      vx: 1.0 # assume 1m/s velocity noise
+      wz: 0.4
+    measurement_noise_std:
+      x: 4.0 # [m]
+      y: 4.0 # [m]
+      # y: 0.02 # rad/m if use_polar_coordinate_in_measurement_noise is true
+      yaw: 0.2 # [rad]
+      vx: 10 # [m/s]
+    initial_covariance_std:
+      x: 3.0 # [m]
+      y: 6.0 # [m]
+      yaw: 10.0 # [rad]
+      vx: 100.0 # [m/s]
+      wz: 10.0 # [rad/s]
+  # input flag
+  trust_yaw_input: false # set true if yaw input of sensor is reliable
+  trust_twist_input: false # set true if twist input of sensor is reliable
+  use_polar_coordinate_in_measurement_noise: false # set true if you want to define the measurement noise in polar coordinate
+  assume_zero_yaw_rate: false # set true if you want to assume zero yaw rate
+  # output limitation
+  limit:
+    max_speed: 80.0 # [m/s]
+  # low pass filter is used to smooth the yaw and shape estimation
+  low_pass_filter:
+    time_constant: 1.0 # [s]
+    sampling_time: 0.1 # [s]

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml

@@ -0,0 +1,38 @@
+default:
+  # This file defines the parameters for the linear motion tracker.
+  # All this parameter coordinate is assumed to be in the vehicle coordinate system.
+  # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle.
+  ekf_params:
+    # random walk noise is used to model the acceleration noise
+    process_noise_std: # [m/s^2]
+      ax: 0.98 # assume 0.1G acceleration noise
+      ay: 0.98
+      vx: 1.0 # assume 1m/s velocity noise
+      vy: 1.0
+      x: 1.0 # assume 1m position noise
+      y: 1.0
+    measurement_noise_std:
+      x: 0.6 # [m]
+      # y: 4.0 # [m]
+      y: 0.01 # rad/m if use_polar_coordinate_in_measurement_noise is true
+      vx: 10 # [m/s]
+      vy: 100 # [m/s]
+    initial_covariance_std:
+      x: 3.0 # [m]
+      y: 6.0 # [m]
+      vx: 1000.0 # [m/s]
+      vy: 1000.0 # [m/s]
+      ax: 1000.0 # [m/s^2]
+      ay: 1000.0 # [m/s^2]
+    estimate_acc: false # set true if you want to estimate the acceleration
+  # input flag
+  trust_yaw_input: false # set true if yaw input of sensor is reliable
+  trust_twist_input: false # set true if twist input of sensor is reliable
+  use_polar_coordinate_in_measurement_noise: true # set true if you want to define the measurement noise in polar coordinate
+  # output limitation
+  limit:
+    max_speed: 80.0 # [m/s]
+  # low pass filter is used to smooth the yaw and shape estimation
+  low_pass_filter:
+    time_constant: 1.0 # [s]
+    sampling_time: 0.1 # [s]