Merge branch 'main' into autoware_msg

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

@@ -9,10 +9,6 @@
       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

@@ -7,8 +7,6 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_yield_maneuver: true
-      enable_yield_maneuver_during_shifting: false
       enable_cancel_maneuver: true
       disable_path_update: false
 
@@ -156,8 +154,10 @@
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
-          time_threshold: 3.0                            # [s]
-          distance_threshold: 1.0                        # [m]
+          closest_distance_to_wait_and_see: 10.0         # [m]
+          condition:
+            time_threshold: 3.0                          # [s]
+            distance_threshold: 1.0                      # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]
@@ -245,7 +245,8 @@
 
       # For yield maneuver
       yield:
-        yield_velocity: 2.78                            # [m/s]
+        enable: true                                    # [-]
+        enable_during_shifting: false                   # [-]
 
       # For stop maneuver
       stop:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml

@@ -8,3 +8,4 @@
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
       decision_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being cancelled
       minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
+      ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml

@@ -22,7 +22,7 @@
         std_dev_multiplier: 1.96  # [-] min and max velocity of the obstacles are calculated from this value and covariance
         diameter: 0.1             # [m] diameter of obstacles. used for creating dynamic obstacles from points
         height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
-        max_prediction_time: 10.0 # [sec] create predicted path until this time
+        max_prediction_time: 3.0  # [sec] create predicted path until this time
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
@@ -37,7 +37,7 @@
       # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
-        time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
+        time_threshold: 0.5   # [sec] ignores detections that persist for less than this duration
 
       # Typically used when the "detection_method" is set to ObjectWithoutPath or Points
       # Approach if the ego has stopped in front of the obstacle for a certain period

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -16,6 +16,8 @@
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
+      slow_down_min_acc: -1.0         # slow down min deceleration [m/ss]
+      slow_down_min_jerk: -1.0        # slow down min jerk [m/sss]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index

autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml

@@ -0,0 +1,17 @@
+# Default configuration for mrm handler
+---
+/**:
+  ros__parameters:
+    update_rate: 10
+    timeout_operation_mode_availability: 0.5
+    timeout_call_mrm_behavior: 0.01
+    timeout_cancel_mrm_behavior: 0.01
+    use_emergency_holding: false
+    timeout_emergency_recovery: 5.0
+    use_parking_after_stopped: false
+    use_pull_over: false
+    use_comfortable_stop: false
+
+    # setting whether to turn hazard lamp on for each situation
+    turning_hazard_on:
+      emergency: true