Merge branch 'tier4/main' into sync-tier4-upstream

autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml

@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
-    initial_selector_mode: "local" # ["local", "remote"]
+    initial_selector_mode: "remote" # ["local", "remote"]

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

@@ -8,10 +8,10 @@
     # Node
     update_rate: 10.0
     visualize_lanelet: false
-    include_right_lanes: false
-    include_left_lanes: false
-    include_opposite_lanes: false
-    include_conflicting_lanes: false
+    include_right_lanes: true
+    include_left_lanes: true
+    include_opposite_lanes: true
+    include_conflicting_lanes: true
     boundary_types_to_detect: [curbstone]
 
     # Core

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -45,8 +45,8 @@
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
-    input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    input_delay: 0.17                # steering input delay time for delay compensation
+    vehicle_model_steer_tau: 0.15     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.17
+    delay_compensation_time: 0.15
 
     enable_smooth_stop: true
     enable_overshoot_emergency: true
@@ -58,19 +58,19 @@
 
     # emergency state
     emergency_vel: 0.0
-    emergency_acc: -5.0
-    emergency_jerk: -3.0
+    emergency_acc: -2.5
+    emergency_jerk: -1.5
 
     # acceleration limit
-    max_acc: 3.0
-    min_acc: -5.0
+    max_acc: 1.86
+    min_acc: -3.36
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -5.0
+    min_jerk: -2.0
 
     # pitch
-    use_trajectory_for_pitch_calculation: false
+    use_trajectory_for_pitch_calculation: true
     lpf_pitch_gain: 0.95
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

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

@@ -2,9 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: false
-    use_start_request: false
+    use_start_request: true
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0

autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml

@@ -2,10 +2,10 @@
   ros__parameters:
     input_frame: "base_link"
     output_frame: "base_link"
-    min_x: -60.0
-    max_x: 60.0
-    min_y: -60.0
-    max_y: 60.0
+    min_x: -100.0
+    max_x: 100.0
+    min_y: -100.0
+    max_y: 100.0
     min_z: -30.0
     max_z: 50.0
     negative: False

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     show_debug_info: false
-    enable_yaw_bias_estimation: true
+    enable_yaw_bias_estimation: false
     predict_frequency: 50.0
     tf_rate: 50.0
     extend_state_step: 50

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    input_offset_ms: [50.0, 66.67, 83.33, 0.0, 16.67, 33.33]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     filter_scope_min_x: -100.0

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    additional_lidars: []
+    additional_lidars: ["front_upper", "front_lower"]
     ransac_input_topics: []
     use_single_frame_filter: False
     use_time_series_filter: True
@@ -11,22 +11,82 @@
         max_x: 150.0
         min_y: -70.0
         max_y: 70.0
-        max_z: 2.5
+        max_z: 3.2
         min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     common_ground_filter:
       plugin: "ground_segmentation::ScanGroundFilterComponent"
       parameters:
         global_slope_max_angle_deg: 10.0
-        local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
+        local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode
         split_points_distance_tolerance: 0.2
         use_virtual_ground_point: True
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
+        grid_size_m: 0.2
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 5
+        detection_range_z_max: 3.2
+        elevation_grid_mode: true
+        center_pcl_shift: 0.0
+
+    # common_ground_filter:
+    #   plugin: "ground_segmentation::RayGroundFilterComponent"
+    #   parameters:
+    #     general_max_slope: 10.0
+    #     local_max_slope: 10.0
+    #     min_height_threshold: 0.2
+
+    front_upper_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
+        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        negative: False
+
+    front_upper_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
+        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.1
+        grid_size_m: 0.1
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 4
+        detection_range_z_max: 3.2
+        center_pcl_shift: 0.0
+        elevation_grid_mode: true
+
+    front_lower_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
+        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        negative: False
+
+    front_lower_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode
+        split_height_distance: 0.2      # recommended 0.05 for non elevation_grid_mode
+        use_virtual_ground_point: False
+        non_ground_height_threshold: 0.1
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
-        detection_range_z_max: 2.5
+        detection_range_z_max: 3.2
+        center_pcl_shift: 0.0
         elevation_grid_mode: true
-        use_recheck_ground_cluster: true
+        use_recheck_ground_cluster: false

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -2,4 +2,4 @@
   ros__parameters:
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
-    external_priority: false
+    external_priority: true

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

@@ -17,8 +17,8 @@
       kp: 0.3
 
     backward:
-      start_jerk: -0.1
-      min_jerk_mild_stop: -0.3
+      start_jerk: -0.3
+      min_jerk_mild_stop: -0.5
       min_jerk: -1.5
       min_acc_mild_stop: -1.0
       min_acc: -2.5

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

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 20.0      # max velocity limit [m/s]
+    max_velocity: 9.72      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter
@@ -12,7 +12,7 @@
     curvature_calculation_distance: 5.0         # 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]
+    max_lateral_accel: 0.6             # max lateral acceleration limit [m/ss]
     min_curve_velocity: 2.74            # 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

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

@@ -32,8 +32,8 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 1.0                    # [m]
-          safety_buffer_lateral: 0.7                   # [m]
+          avoid_margin_lateral: 0.0                    # [m]
+          safety_buffer_lateral: 0.8                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
@@ -42,8 +42,8 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
@@ -52,8 +52,8 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
@@ -62,8 +62,8 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
@@ -82,7 +82,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
@@ -92,7 +92,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
@@ -102,7 +102,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
@@ -199,8 +199,8 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          soft_road_shoulder_margin: 0.3                # [m]
-          hard_road_shoulder_margin: 0.3                # [m]
+          soft_road_shoulder_margin: 0.8                # [m]
+          hard_road_shoulder_margin: 0.8                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
           max_deviation_from_lane: 0.5                  # [m]

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

@@ -41,7 +41,7 @@
 
       # pull over
       pull_over:
-        minimum_request_length: 0.0
+        minimum_request_length: 10.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0

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

@@ -2,15 +2,15 @@
   ros__parameters:
     lane_change:
       backward_lane_length: 200.0 #[m]
-      prepare_duration: 4.0         # [s]
+      prepare_duration: 3.0         # [s]
 
-      backward_length_buffer_for_end_of_lane: 3.0 # [m]
+      backward_length_buffer_for_end_of_lane: 0.5 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
-      lane_change_finish_judge_buffer: 2.0      # [m]
+      lane_change_finish_judge_buffer: 0.0      # [m]
 
-      lane_changing_lateral_jerk: 0.5              # [m/s3]
+      lane_changing_lateral_jerk: 0.75             # [m/s3]
 
-      minimum_lane_changing_velocity: 2.78        # [m/s]
+      minimum_lane_changing_velocity: 1.0         # [m/s]
       prediction_time_resolution: 0.5           # [s]
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
@@ -64,7 +64,7 @@
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]
         min_values: [0.15, 0.15, 0.15]
-        max_values: [0.5, 0.5, 0.5]
+        max_values: [1.25, 1.25, 1.25]
 
       # target object
       target_object:

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

@@ -29,7 +29,7 @@
       backward_velocity: -1.0
       pull_out_max_steer_angle: 0.26  # 15deg
       # search start pose backward
-      enable_back: true
+      enable_back: false
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
       max_back_distance: 30.0
       backward_search_resolution: 2.0

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

@@ -90,6 +90,6 @@
         intersection_to_occlusion: false
 
     merge_from_private:
-      stopline_margin: 3.0
+      stop_line_margin: 0.5
       stop_duration_sec: 1.0
       stop_distance_threshold: 1.0

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

@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     walkway:
-      stop_duration: 1.0 # [s] stop time at stop position
-      stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+      stop_duration: 0.1 # [s] stop time at stop position
+      stop_distance_from_crosswalk: 0.0 # [m] make stop line away from crosswalk when no explicit stop line exists

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

@@ -26,8 +26,8 @@
       - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
-      - "avoidance_left"
-      - "avoidance_right"
+      # - "avoidance_left"
+      # - "avoidance_right"
       - "avoidance_by_lane_change_left"
       - "avoidance_by_lane_change_right"
       - "goal_planner"