Merge branch 'main' into chore/shape_estimation_param_update

autowarefoundation · Jan 31, 2024 · 836894d · 836894d
2 parents 13e80fa + 7837d1f
commit 836894d
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Showing 15 changed files with 39 additions and 19 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -54,6 +54,9 @@
     # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
     initial_pose_distance_tolerance_m: 10.0
 
+    # The execution time which means probably NDT cannot matches scans properly. [ms]
+    critical_upper_bound_exe_time_ms: 100.0
+
     # Number of threads used for parallel computing
     num_threads: 4
 
@@ -92,12 +95,8 @@
     # 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
+    # A flag for using scan matching score based on no ground LiDAR scan
+    estimate_scores_by_no_ground_points: 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. [ms]
-    critical_upper_bound_exe_time_ms: 100
diff --git a/...object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml b/...object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 80.0
diff --git a/...recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml b/...recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    split_range: 70.0
diff --git a/...ion/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml b/...ion/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml
@@ -3,7 +3,7 @@
     lidar-lidar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
@@ -59,7 +59,7 @@
     lidar-radar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS
@@ -115,7 +115,7 @@
     radar-radar:
       can_assign_matrix:
         #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
-        [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+        [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
         0,       1,   1,     1,    1,       0,         0,      0,         #CAR
         0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
         0,       1,   1,     1,    1,       0,         0,      0,         #BUS

diff --git a/...n/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/...n/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
@@ -23,4 +23,4 @@
 
     # logging
     enable_logging: false
-    log_file_path: "/tmp/decorative_tracker_merger.log"
+    logging_file_path: "/tmp/decorative_tracker_merger.log"
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
@@ -19,6 +19,7 @@
       use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
+      use_freespace_areas: true
 
       # for debug
       publish_debug_marker: false
@@ -218,7 +219,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 30.0                                # [m]
+            buffer: 3.0                                 # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]

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
@@ -6,14 +6,15 @@
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
-      collision_check_distance_from_end: 1.0
+      collision_check_distance_from_end: -10.0
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -23,6 +24,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
+      geometric_collision_check_distance_from_end: 0.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0

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
@@ -30,7 +30,7 @@
         enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
         stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
         max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
-        stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
+        required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle
         min_acc: -1.0 # min acceleration [m/ss]
         min_jerk: -1.0 # min jerk [m/sss]
         max_jerk: 1.0 # max jerk [m/sss]

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -59,6 +59,8 @@
           object_expected_deceleration: 2.0
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
+        avoid_collision_by_acceleration:
+          object_time_margin_to_collision_point: 4.0
 
       occlusion:
         enable: false

diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml
@@ -4,7 +4,7 @@
       vehicle_is_out_of_lane: "lane_departure"
       trajectory_deviation_is_high: "trajectory_deviation"
       localization_matching_score_is_low: "ndt_scan_matcher"
-      localization_accuracy_is_low: "localization_accuracy"
+      localization_accuracy_is_low: "localization_error_ellipse"
       map_version_is_different: "map_version"
       trajectory_is_invalid: "trajectory_point_validation"
       cpu_temperature_is_high: "CPU Temperature"

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -23,7 +23,7 @@
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default
 

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -23,7 +23,7 @@
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/localization/performance_monitoring/localization_accuracy: default
+        /autoware/localization/performance_monitoring/localization_error_ellipse: default
         /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -24,7 +24,7 @@
 
         /autoware/localization/node_alive_monitoring: default
         # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        # /autoware/localization/performance_monitoring/localization_accuracy: default
+        # /autoware/localization/performance_monitoring/localization_error_ellipse: default
 
         /autoware/map/node_alive_monitoring: default
 

diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
-    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+  <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
     <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    <arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
+    <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+    <arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
     <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -92,6 +92,14 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/shape_estimation/shape_estimation.param.yaml"
     />
     <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
+    <arg
+      name="object_recognition_detection_object_range_splitter_radar_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_range_splitter/object_range_splitter_radar_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"