diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index c51cbafba2..ffd259e5e5 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -1,8 +1,6 @@ /**: ros__parameters: - 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.) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 9998b6aadf..7820c562e8 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -13,7 +13,7 @@ curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- trajectory extending -- - extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + extend_trajectory_for_end_yaw_control: false # flag of trajectory extending for terminal yaw control # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index c39088753f..ad6217663f 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -69,8 +69,9 @@ max_jerk: 2.0 min_jerk: -5.0 - # pitch - use_trajectory_for_pitch_calculation: false + # slope compensation lpf_pitch_gain: 0.95 + slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive + adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1 diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 7ad685217f..54c87f45b6 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -3,7 +3,7 @@ update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 use_emergency_handling: false - check_external_emergency_heartbeat: false + check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) use_start_request: false enable_cmd_limit_filter: true filter_activated_count_threshold: 5 diff --git a/autoware_launch/config/localization/ar_tag_based_localizer.param.yaml b/autoware_launch/config/localization/ar_tag_based_localizer.param.yaml new file mode 100644 index 0000000000..e8f9016537 --- /dev/null +++ b/autoware_launch/config/localization/ar_tag_based_localizer.param.yaml @@ -0,0 +1,40 @@ +/**: + ros__parameters: + # marker_size + marker_size: 0.6 + + # target_tag_ids + target_tag_ids: ['0','1','2','3','4','5','6'] + + # base_covariance + # This value is dynamically scaled according to the distance at which AR tags are detected. + base_covariance: [0.2, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.2, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.02] + + # Detect AR-Tags within this range and publish the pose of ego vehicle + distance_threshold: 13.0 # [m] + + # consider_orientation + consider_orientation: false + + # Detector parameters + # See https://github.com/pal-robotics/aruco_ros/blob/7787a6794d30c248bc546d1582e65dd47bc40c12/aruco/include/aruco/markerdetector.h#L106-L126 + detection_mode: "DM_NORMAL" # select from [DM_NORMAL, DM_FAST, DM_VIDEO_FAST] + min_marker_size: 0.02 + + # Parameters for comparison with EKF Pose + # If the difference between the EKF pose and the current pose is within the range of values set below, the current pose is published. + # [How to determine the value] + # * ekf_time_tolerance: Since it is abnormal if the data comes too old from EKF, the tentative tolerance value is set at 5 seconds. + # This value is assumed to be unaffected even if it is increased or decreased by some amount. + # * ekf_position_tolerance: Since it is possible that multiple AR tags with the same ID could be placed, the tolerance should be as small as possible. + # And if the vehicle is running only on odometry in a section without AR tags, + # it is possible that self-position estimation could be off by a few meters. + # it should be fixed by AR tag detection, so tolerance should not be smaller than 10 meters. + # Therefore, the tolerance is set at 10 meters. + ekf_time_tolerance: 5.0 # [s] + ekf_position_tolerance: 10.0 # [m] diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index ebdf2828fc..4cc71e0904 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -1,37 +1,46 @@ /**: ros__parameters: - show_debug_info: false - enable_yaw_bias_estimation: true - predict_frequency: 50.0 - tf_rate: 50.0 - publish_tf: true - extend_state_step: 50 + node: + show_debug_info: false + enable_yaw_bias_estimation: true + predict_frequency: 50.0 + tf_rate: 50.0 + publish_tf: true + extend_state_step: 50 - # for Pose measurement - pose_additional_delay: 0.0 - pose_measure_uncertainty_time: 0.01 - pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_measurement: + # for Pose measurement + pose_additional_delay: 0.0 + pose_measure_uncertainty_time: 0.01 + pose_smoothing_steps: 5 + pose_gate_dist: 10000.0 - # for twist measurement - twist_additional_delay: 0.0 - twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_measurement: + # for twist measurement + twist_additional_delay: 0.0 + twist_smoothing_steps: 2 + twist_gate_dist: 10000.0 - # for process model - proc_stddev_yaw_c: 0.005 - proc_stddev_vx_c: 10.0 - proc_stddev_wz_c: 5.0 + process_noise: + # for process model + proc_stddev_yaw_c: 0.005 + proc_stddev_vx_c: 10.0 + proc_stddev_wz_c: 5.0 - #Simple1DFilter parameters - z_filter_proc_dev: 1.0 - roll_filter_proc_dev: 0.01 - pitch_filter_proc_dev: 0.01 - # for diagnostics - pose_no_update_count_threshold_warn: 50 - pose_no_update_count_threshold_error: 100 - twist_no_update_count_threshold_warn: 50 - twist_no_update_count_threshold_error: 100 + simple_1d_filter_parameters: + #Simple1DFilter parameters + z_filter_proc_dev: 1.0 + roll_filter_proc_dev: 0.01 + pitch_filter_proc_dev: 0.01 - # for velocity measurement limitation (Set 0.0 if you want to ignore) - threshold_observable_velocity_mps: 0.0 # [m/s] + diagnostics: + # for diagnostics + pose_no_update_count_threshold_warn: 50 + pose_no_update_count_threshold_error: 100 + twist_no_update_count_threshold_warn: 50 + twist_no_update_count_threshold_error: 100 + + misc: + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s] + pose_frame_id: "map" diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml similarity index 100% rename from autoware_launch/config/localization/ndt_scan_matcher.param.yaml rename to autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml diff --git a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml similarity index 100% rename from autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml diff --git a/autoware_launch/config/localization/random_downsample_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml similarity index 100% rename from autoware_launch/config/localization/random_downsample_filter.param.yaml rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml diff --git a/autoware_launch/config/localization/voxel_grid_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml similarity index 100% rename from autoware_launch/config/localization/voxel_grid_filter.param.yaml rename to autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index a05cc7c35c..88acbfb526 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -2,6 +2,11 @@ ros__parameters: gnss_pose_timeout: 3.0 # [sec] stop_check_duration: 3.0 # [sec] + ekf_enabled: $(var ekf_enabled) + gnss_enabled: $(var gnss_enabled) + yabloc_enabled: $(var yabloc_enabled) + ndt_enabled: $(var ndt_enabled) + stop_check_enabled: $(var stop_check_enabled) # from gnss gnss_particle_covariance: diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml index 24d2b0e8ed..b830e038f1 100755 --- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -1,3 +1,4 @@ /**: ros__parameters: center_line_resolution: 5.0 # [m] + lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path diff --git a/autoware_launch/config/map/map_tf_generator.param.yaml b/autoware_launch/config/map/map_tf_generator.param.yaml new file mode 100644 index 0000000000..90790808ac --- /dev/null +++ b/autoware_launch/config/map/map_tf_generator.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + map_frame: map + viewer_frame: viewer diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml index b4efbec970..48d10944cb 100644 --- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml +++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml @@ -7,3 +7,5 @@ # only used when downsample_whole_load enabled leaf_size: 3.0 # downsample leaf size [m] + pcd_paths_or_directory: [$(var pointcloud_map_path)] # Path to the pointcloud map file or directory + pcd_metadata_path: $(var pointcloud_map_metadata_path) # Path to pointcloud metadata file diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index 0b29a87965..a9c3174846 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -13,3 +13,14 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_twist: false + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index 8252fde827..474d0e2b69 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -13,3 +13,14 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_twist: false + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 21d31f2163..8ccd469786 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,5 +1,11 @@ /**: ros__parameters: + trt_precision: fp16 + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + model_params: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] 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 fdd64174de..f8ad371ab9 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 @@ -19,6 +19,12 @@ use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds + crosswalk_with_signal: + use_crosswalk_signal: true + threshold_velocity_assumed_as_stopping: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped + # If the pedestrian does not move for X seconds against green signal, the module judge that the pedestrian has no intention to walk. + distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order, keys of map + timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 diff --git a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml index d2c0841cf3..3a1e9f02c3 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml @@ -24,3 +24,6 @@ max_distance_from_lane: 5.0 # [m] max_angle_diff_from_lane: 0.785398 # [rad] (45 deg) max_lateral_velocity: 7.0 # [m/s] + + # tracking model parameters + tracking_config_directory: $(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/ diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml index 5dc2b62eaa..dfe12ff352 100644 --- a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml +++ b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml @@ -3,3 +3,4 @@ external_time_tolerance: 5.0 perception_time_tolerance: 1.0 external_priority: false + enable_signal_matching: false diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 3512d722ec..69328a9b79 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -9,6 +9,9 @@ launch: - arg: name: launch_dynamic_avoidance_module default: "false" + - arg: + name: launch_sampling_planner_module + default: "false" # Warning, experimental module, use only in simulations - arg: name: launch_lane_change_right_module default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 03958fda9a..face8610c7 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + max_vel: 11.1 # max velocity limit [m/s] + # constraints param for normal driving normal: min_acc: -1.0 # min deceleration [m/ss] diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..ff97ae8dfb 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,6 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter @@ -9,24 +8,24 @@ # -- curve parameters -- # common parameters - curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + curvature_calculation_distance: 2.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] - min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] + min_curve_velocity: 2.0 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] # steering angle rate limit parameters enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. - max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + max_steering_angle_rate: 11.5 # maximum steering angle rate [degree/s] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) - engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) + engage_acceleration: 0.5 # engage acceleration [m/ss] (use this acceleration when engagement) engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] diff --git a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml index 658a968906..da337d70b1 100644 --- a/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml @@ -26,3 +26,14 @@ steering_rate: 10.0 velocity_deviation: 100.0 distance_deviation: 100.0 + longitudinal_distance_deviation: 1.0 + + parameters: + # The required trajectory length is calculated as the distance needed + # to stop from the current speed at this deceleration. + forward_trajectory_length_acceleration: -3.0 + + # An error is raised if the required trajectory length is less than this distance. + # Setting it to 0 means an error will occur if even slightly exceeding the end of the path, + # therefore, a certain margin is necessary. + forward_trajectory_length_margin: 2.0 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 52724cdda0..2ac846ed25 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 @@ -127,7 +127,7 @@ object_check_return_pose_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] - object_check_shiftable_ratio: 0.6 # [-] + object_check_shiftable_ratio: 0.8 # [-] object_check_min_road_shoulder_width: 0.5 # [m] # lost object compensation object_last_seen_threshold: 2.0 @@ -187,6 +187,7 @@ time_horizon_for_rear_object: 10.0 # [s] delay_until_departure: 0.0 # [s] # rss parameters + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s] @@ -206,7 +207,7 @@ hard_road_shoulder_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 - max_deviation_from_lane: 0.5 # [m] + max_deviation_from_lane: 0.2 # [m] # avoidance distance parameters longitudinal: min_prepare_time: 1.0 # [s] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d03efa405f..66542e1bf1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -39,6 +39,9 @@ object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 detection_bound_offset: 15.0 + outer_road_detection_offset: 1.0 + inner_road_detection_offset: 0.0 + # pull over pull_over: @@ -128,7 +131,7 @@ delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 5.0 + safety_check_time_horizon: 10.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 100.0 @@ -164,7 +167,6 @@ method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters - check_all_predicted_path: true publish_debug_marker: false rss_params: rear_vehicle_reaction_time: 2.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml new file mode 100644 index 0000000000..9a6b30c219 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml @@ -0,0 +1,40 @@ +/**: + ros__parameters: + common: + output_delta_arc_length: 0.5 # [m] delta arc length for output trajectory + + debug: + enable_calculation_time_info: false # flag to print calculation times + id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) + + preprocessing: + force_zero_initial_deviation: True # if true, initial planning starts from the reference path + force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning + constraints: + hard: + max_curvature: 3.0 # [m⁻¹] maximum curvature of a sampled path + min_curvature: -3.0 # [m⁻¹] minimum curvature of a sampled path + soft: + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path + length_weight: 1.0 # cost weight for the length of a sampled path + curvature_weight: 2000.0 # cost weight for the curvature of a sampled path + weights: [0.5,1.0,20.0] + sampling: + enable_frenet: True + enable_bezier: False + resolution: 0.5 # [m] target distance between sampled path points + previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) + target_lengths: [20.0, 40.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5] # manual values that are only used if nb_target_lateral_positions = 0 + frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial + target_lateral_velocities: [-0.5, 0.0, 0.5] + target_lateral_accelerations: [0.0] + # bezier: + # nb_k: 3 # number of sampled curvature values + # mk_min: 0.0 # minimum curvature value + # mk_max: 10.0 # maximum curvature value + # nb_t: 5 # number of sampled acceleration values + # mt_min: 0.3 # minimum acceleration value + # mt_max: 1.7 # maximum acceleration value diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 9853e220bc..8d4fe057b4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -82,3 +82,12 @@ keep_last: true priority: 7 max_module_size: 1 + + sampling_planner: + enable_module: true + enable_rtc: false + enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_candidate_module: false + keep_last: false + priority: 16 + max_module_size: 1 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 154c4b1e0b..2c55e9fad5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -6,7 +6,6 @@ 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: -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 @@ -39,6 +38,7 @@ backward_path_update_duration: 3.0 ignore_distance_from_lane_end: 15.0 # turns signal + prepare_time_before_start: 0.0 th_turn_signal_on_lateral_offset: 1.0 intersection_search_length: 30.0 length_ratio_for_turn_signal_deactivation_near_intersection: 0.5 @@ -93,7 +93,7 @@ delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 5.0 + safety_check_time_horizon: 10.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 10.0 @@ -127,7 +127,6 @@ # 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: 2.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 7bd7d88230..424029300a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -4,7 +4,7 @@ use_pass_judge_line: true stop_line_margin: 1.0 # [m] backward_length: 50.0 # [m] - ignore_width_from_center_line: 0.7 # [m] + ignore_width_from_center_line: 0.0 # [m] max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] 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 921b728a34..6de22a67dc 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 @@ -41,7 +41,7 @@ ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) - ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) + ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk @@ -53,11 +53,10 @@ stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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: 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: [1.0, 0.0] # [s] + distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order + timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. # param for target object filtering 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 86bcf801f4..68d4070cbf 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 @@ -15,6 +15,14 @@ enable_pass_judge_before_default_stopline: false stuck_vehicle: + target_type: + car: true + bus: true + truck: true + trailer: true + motorcycle: false + bicycle: false + unknown: false turn_direction: left: true right: true @@ -27,6 +35,14 @@ disable_against_private_lane: true yield_stuck: + target_type: + car: true + bus: true + truck: true + trailer: true + motorcycle: false + bicycle: false + unknown: false turn_direction: left: true right: true @@ -37,6 +53,14 @@ consider_wrong_direction_vehicle: false collision_detection_hold_time: 0.5 min_predicted_path_confidence: 0.05 + target_type: + car: true + bus: true + truck: true + trailer: true + motorcycle: true + bicycle: true + unknown: false velocity_profile: use_upstream: true minimum_upstream_velocity: 0.01 @@ -56,7 +80,9 @@ duration: 3.0 object_dist_to_stopline: 10.0 ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 + object_expected_deceleration: + car: 2.0 + bike: 5.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 avoid_collision_by_acceleration: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 1ac32ba562..2ff87e9b01 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -95,7 +95,12 @@ obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego - + yield: + enable_yield: false + lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding + max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it + max_obstacles_collision_time: 10.0 # how far the blocking obstacle + stopped_obstacle_velocity_threshold: 0.5 slow_down: max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2 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 index 69e3831591..a3c712d466 100644 --- 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 @@ -24,6 +24,8 @@ /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_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/sensor_fusion_status: { 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 index d8229425af..2826e9348c 100644 --- 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 @@ -24,6 +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_error_ellipse: default + /autoware/localization/performance_monitoring/localization_stability: 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/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 7de7741be2..a5daf3dd16 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,7 +4,6 @@ - @@ -56,12 +55,10 @@ - - - - - - + + + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 70170a5fef..3ccd98104d 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -19,16 +19,25 @@ - - - - + + + + @@ -43,6 +52,9 @@ + + + diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index 455b848c63..ba5611b6c0 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -8,6 +8,7 @@ + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index a84911a414..3b0f8eca46 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -14,7 +14,6 @@ - @@ -128,10 +127,6 @@ name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml" /> - + + + + + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 4e65c30c02..3d57f6198e 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -7,7 +7,6 @@ - @@ -27,6 +26,7 @@ + diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml index fe520e1fdc..4cd6eccbaa 100644 --- a/autoware_launch/launch/components/tier4_sensing_component.launch.xml +++ b/autoware_launch/launch/components/tier4_sensing_component.launch.xml @@ -5,7 +5,6 @@ - diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 57cbc38af6..77d17d7897 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -21,7 +21,6 @@ - @@ -55,7 +54,6 @@ - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index d19c7308f0..63443c928f 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -13,6 +13,8 @@ + + @@ -50,8 +52,6 @@ - - diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 064f87d3ff..f73b720b5d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -58,58 +58,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_plugins/SteeringAngle - Enabled: true - Name: SteeringAngle - Scale: 17 - Text Color: 25; 255; 240 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/steering_status - Value: true - Value height offset: 0 - - Class: rviz_plugins/ConsoleMeter - Enabled: true - Name: ConsoleMeter - Scale: 3 - Text Color: 25; 255; 240 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Value height offset: 0 - - Class: rviz_plugins/AccelerationMeter - Enabled: false - Name: AccelerationMeter - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/acceleration - - Alpha: 0.999 - Class: rviz_plugins/VelocityHistory - Color Border Vel Max: 3 - Constant Color: - Color: 255; 255; 255 - Value: true - Enabled: true - Name: VelocityHistory - Scale: 0.30000001192092896 - Timeout: 10 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Alpha: 0.30000001192092896 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -296,27 +244,22 @@ Visualization Manager: Value: true Wave Color: 255; 255; 255 Wave Velocity: 40 - - Class: rviz_plugins/MaxVelocity + - Class: autoware_overlay_rviz_plugin/SignalDisplay Enabled: true - Name: MaxVelocity - Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity - Value: true - - Class: rviz_plugins/TurnSignal - Enabled: true - Name: TurnSignal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/turn_indicators_status + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 175 + Left: 10 + Name: SignalDisplay + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /perception/traffic_light_recognition/traffic_signals + Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true + Width: 517 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay @@ -2707,15 +2650,10 @@ Visualization Manager: TF: true Value: false Vehicle: - AccelerationMeter: true - ConsoleMeter: true - MaxVelocity: true PolarGridDisplay: true - SteeringAngle: true - TurnSignal: true Value: true VehicleModel: true - VelocityHistory: true + SignalDisplay: true Value: true Zoom Factor: 1 - Alpha: 1 diff --git a/autoware_launch/rviz/image/autoware.png b/autoware_launch/rviz/image/autoware.png index cf2d1e8eff..3b27ce5fbc 100644 Binary files a/autoware_launch/rviz/image/autoware.png and b/autoware_launch/rviz/image/autoware.png differ