Merge branch 'main' into fix/rearrange_clustering_pipeline

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -1,14 +1,14 @@
 /**:
   ros__parameters:
 
-    publish_diag: true  # if true, diagnostic msg is published
+    publish_diag: false  # if true, diagnostic msg is published
 
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
     #  the next predicted_path is valid.)
     diag_error_count_threshold: 0
 
-    display_on_terminal: true # show error msg on terminal
+    display_on_terminal: false # show error msg on terminal
 
     thresholds:
       max_distance_deviation: 1.0

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -1,13 +1,18 @@
 /**:
   ros__parameters:
+    # Enable feature
+    will_out_of_lane_checker: true
+    out_of_lane_checker: true
+    boundary_departure_checker: false
+
     # Node
     update_rate: 10.0
     visualize_lanelet: false
     include_right_lanes: false
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
-    road_border_departure_checker: false
+    boundary_types_to_detect: [road_border]
 
     # Core
     footprint_margin_scale: 1.0

autoware_launch/config/control/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

@@ -2,6 +2,10 @@
   ros__parameters:
     transition_timeout: 10.0
     frequency_hz: 10.0
+
+    # set true if you want to engage the autonomous driving mode while the vehicle is driving. If set to false, it will deny Engage in any situation where the vehicle speed is not zero. Note that if you use this feature without adjusting the parameters, it may cause issues like sudden deceleration. Before using, please ensure the engage condition and the vehicle_cmd_gate transition filter are appropriately adjusted.
+    enable_engage_on_driving: false
+
     check_engage_condition: false # set false if you do not want to care about the engage condition.
     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/localization/localization_error_monitor.param.yaml

@@ -4,4 +4,4 @@
     error_ellipse_size: 1.0
     warn_ellipse_size: 0.8
     error_ellipse_size_lateral_direction: 0.3
-    warn_ellipse_size_lateral_direction: 0.2
+    warn_ellipse_size_lateral_direction: 0.25

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -37,6 +37,9 @@
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 100
 
+    # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+    lidar_topic_timeout_sec: 1.0
+
     # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
     initial_pose_timeout_sec: 1.0
 

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

@@ -5,13 +5,17 @@
     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]
+    max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s]
     dist_threshold_for_searching_lanelet: 3.0 #[m]
     delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
     sigma_lateral_offset: 0.5 #[m]
     sigma_yaw_angle_deg: 5.0 #[angle degree]
     object_buffer_time_length: 2.0 #[s]
     history_time_length: 1.0 #[s]
+    # parameter for shoulder lane prediction
+    prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
+    # parameters for lc prediction
     lane_change_detection:
       method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
       time_to_change_lane:

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

@@ -30,9 +30,9 @@
           36.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRUCK
           60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #BUS
           60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRAILER
-           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
-           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
-           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.50,   #MOTORBIKE
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.50,   #BICYCLE
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.00,      2.00,     1.50]   #PEDESTRIAN
     min_area_matrix:
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN

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

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
-    jerk_weight: 0.1         # weight for "smoothness" cost for jerk
-    over_v_weight: 10000.0   # weight for "over speed limit" cost
-    over_a_weight: 500.0     # weight for "over accel limit" cost
-    over_j_weight: 200.0     # weight for "over jerk limit" cost
+    jerk_weight: 10.0        # weight for "smoothness" cost for jerk
+    over_v_weight: 100000.0  # weight for "over speed limit" cost
+    over_a_weight: 5000.0    # weight for "over accel limit" cost
+    over_j_weight: 2000.0    # weight for "over jerk limit" cost
     jerk_filter_ds: 0.1      # resampling ds for jerk filter

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -4,8 +4,6 @@
     avoidance:
       resample_interval_for_planning: 0.3               # [m]
       resample_interval_for_output: 4.0                 # [m]
-      detection_area_right_expand_dist: 0.0             # [m]
-      detection_area_left_expand_dist: 1.0              # [m]
       drivable_area_right_bound_offset: 0.0             # [m]
       drivable_area_left_bound_offset: 0.0              # [m]
 
@@ -142,10 +140,19 @@
         # collision check parameters
         check_all_predicted_path: false                  # [-]
         time_resolution: 0.5                             # [s]
-        time_horizon: 10.0                               # [s]
+        time_horizon_for_front_object: 3.0               # [s]
+        time_horizon_for_rear_object: 10.0               # [s]
         safety_check_backward_distance: 100.0            # [m]
-        safety_check_hysteresis_factor: 2.0              # [-]
-        safety_check_ego_offset: 1.0                     # [m]
+        hysteresis_factor_expand_rate: 1.5               # [-]
+        hysteresis_factor_safe_count: 10                 # [-]
+        # rss parameters
+        expected_front_deceleration: -1.0                # [m/ss]
+        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]
+        longitudinal_distance_min_threshold: 3.0         # [m]
+        longitudinal_velocity_delta_time: 0.8            # [s]
 
       # For avoidance maneuver
       avoidance:

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -29,19 +29,6 @@
 
     visualize_maximum_drivable_area: true
 
-    lateral_distance_max_threshold: 1.7
-    longitudinal_distance_min_threshold: 3.0
-    longitudinal_velocity_delta_time: 0.8
-
-    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
-
     lane_following:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml

@@ -21,12 +21,14 @@
           rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
           left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
           right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+      path_preprocessing:
+        max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
       expansion:
         method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
                          # 'lanelet': add lanelets overlapped by the ego footprints
                          # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
         max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
-        max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
       avoid_linestring:
         types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     dynamic_avoidance:
       common:
-        enable_debug_info: true
+        enable_debug_info: false
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -42,7 +42,8 @@
           max_object_angle: 0.785
 
       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]
         max_lat_offset_to_avoid: 0.5 # [m]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml

@@ -2,7 +2,6 @@
   ros__parameters:
     goal_planner:
       # general params
-      minimum_request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
@@ -17,13 +16,14 @@
         longitudinal_margin: 3.0
         max_lateral_offset: 0.5
         lateral_offset_interval: 0.25
-        ignore_distance_from_lane_start: 15.0
+        ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.75
 
       # occupancy grid map
       occupancy_grid:
-        use_occupancy_grid: true
-        use_occupancy_grid_for_longitudinal_margin: false
+        use_occupancy_grid_for_goal_search: true
+        use_occupancy_grid_for_goal_longitudinal_margin: false
+        use_occupancy_grid_for_path_collision_check: false
         occupancy_grid_collision_check_margin: 0.0
         theta_size: 360
         obstacle_threshold: 60
@@ -33,9 +33,11 @@
         use_object_recognition: true
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
+        th_moving_object_velocity: 1.0
 
       # pull over
       pull_over:
+        minimum_request_length: 100.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0
@@ -104,6 +106,66 @@
             neighbor_radius: 8.0
             margin: 1.0
 
+      stop_condition:
+        maximum_deceleration_for_stop: 1.0
+        maximum_jerk_for_stop: 1.0
+      path_safety_check:
+        # EgoPredictedPath
+        ego_predicted_path:
+          acceleration: 1.0
+          time_horizon: 10.0
+          time_resolution: 0.5
+          min_slow_speed: 0.0
+          delay_until_departure: 1.0
+          target_velocity: 1.0
+        # For target object filtering
+        target_filtering:
+          safety_check_time_horizon: 5.0
+          safety_check_time_resolution: 1.0
+          # detection range
+          object_check_forward_distance: 10.0
+          object_check_backward_distance: 100.0
+          ignore_object_velocity_threshold: 0.0
+          # ObjectTypesToCheck
+          object_types_to_check:
+            check_car: true
+            check_truck: true
+            check_bus: true
+            check_trailer: true
+            check_bicycle: true
+            check_motorcycle: true
+            check_pedestrian: true
+            check_unknown: false
+          # ObjectLaneConfiguration
+          object_lane_configuration:
+            check_current_lane: true
+            check_right_side_lane: true
+            check_left_side_lane: true
+            check_shoulder_lane: true
+            check_other_lane: false
+          include_opposite_lane: false
+          invert_opposite_lane: false
+          check_all_predicted_path: true
+          use_all_predicted_path: true
+          use_predicted_path_outside_lanelet: false
+
+        # For safety check
+        safety_check_params:
+          # safety check configuration
+          enable_safety_check: true
+          # collision check parameters
+          check_all_predicted_path: true
+          publish_debug_marker: false
+          rss_params:
+            rear_vehicle_reaction_time: 1.0
+            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
+          # temporary
+          backward_path_length: 30.0
+          forward_path_length: 100.0
+
       # debug
       debug:
         print_debug_info: false

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -26,6 +26,18 @@
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0
 
+      # 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
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml

@@ -8,6 +8,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -16,6 +17,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -24,6 +26,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -32,6 +35,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -40,6 +44,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 0
       max_module_size: 1
 
@@ -48,6 +53,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 2
       max_module_size: 1
 
@@ -56,6 +62,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: true
       priority: 1
       max_module_size: 1
 
@@ -64,6 +71,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 5
       max_module_size: 1
 
@@ -72,6 +80,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 4
       max_module_size: 1
 
@@ -80,5 +89,6 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 3
       max_module_size: 1