Merge pull request autowarefoundation#257 from tier4/beta-to-tier4-ma…

…in-sync

chore: sync beta branch beta/v0.17.0 with tier4/main

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

@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
     # Enable feature
-    will_out_of_lane_checker: true
-    out_of_lane_checker: true
-    boundary_departure_checker: false
+    will_out_of_lane_checker: false
+    out_of_lane_checker: false
+    boundary_departure_checker: true
 
     # Node
     update_rate: 10.0
@@ -12,7 +12,7 @@
     include_left_lanes: false
     include_opposite_lanes: false
     include_conflicting_lanes: false
-    boundary_types_to_detect: [road_border]
+    boundary_types_to_detect: [curbstone]
 
     # Core
     footprint_margin_scale: 1.0

autoware_launch/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    # clustering parameter
+    angle_threshold: 0.174 # [rad] (10 deg)
+    distance_threshold: 10.0 # [m]
+    velocity_threshold: 4.0 # [m/s]
+
+    # output object settings
+    # set false if you want to use the object information from radar
+    is_fixed_label: true
+    fixed_label: "CAR"
+    is_fixed_size: true
+    size_x: 4.0 # [m]
+    size_y: 1.5 # [m]
+    size_z: 1.5 # [m]

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

@@ -11,3 +11,5 @@
     min_points_and_distance_ratio:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
       [800.0,     880.0,     800.0,    800.0,         800.0, 800.0,    800.0,         800.0]
+
+    using_2d_validator: true

autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    tracker_ignore_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false

autoware_launch/config/planning/preset/default_preset.yaml

@@ -0,0 +1,120 @@
+launch:
+  # behavior path modules
+  - arg:
+      name: launch_avoidance_module
+      default: "true"
+  - arg:
+      name: launch_avoidance_by_lane_change_module
+      default: "true"
+  - arg:
+      name: launch_dynamic_avoidance_module
+      default: "false"
+  - arg:
+      name: launch_lane_change_right_module
+      default: "true"
+  - arg:
+      name: launch_lane_change_left_module
+      default: "true"
+  - arg:
+      name: launch_external_request_lane_change_right_module
+      default: "false"
+  - arg:
+      name: launch_external_request_lane_change_left_module
+      default: "false"
+  - arg:
+      name: launch_goal_planner_module
+      default: "true"
+  - arg:
+      name: launch_start_planner_module
+      default: "true"
+  - arg:
+      name: launch_side_shift_module
+      default: "true"
+  - arg:
+      name: use_experimental_lane_change_function
+      default: "true"
+
+  # behavior velocity modules
+  - arg:
+      name: launch_crosswalk_module
+      default: "true"
+  - arg:
+      name: launch_walkway_module
+      default: "true"
+  - arg:
+      name: launch_traffic_light_module
+      default: "true"
+  - arg:
+      name: launch_intersection_module
+      default: "true"
+  - arg:
+      name: launch_merge_from_private_module
+      default: "true"
+  - arg:
+      name: launch_blind_spot_module
+      default: "true"
+  - arg:
+      name: launch_detection_area_module
+      default: "true"
+  - arg:
+      name: launch_virtual_traffic_light_module
+      default: "false"
+  - arg:
+      name: launch_no_stopping_area_module
+      default: "true"
+  - arg:
+      name: launch_stop_line_module
+      default: "true"
+  - arg:
+      name: launch_occlusion_spot_module
+      default: "false"
+  - arg:
+      name: launch_run_out_module
+      default: "true"
+  - arg:
+      name: launch_speed_bump_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_no_drivable_lane_module
+      default: "false"
+
+  # motion planning modules
+  - arg:
+      name: motion_path_smoother_type
+      default: elastic_band
+      # option: elastic_band
+      #         none
+
+  - arg:
+      name: motion_path_planner_type
+      default: obstacle_avoidance_planner
+      # option: obstacle_avoidance_planner
+      #         path_sampler
+      #         none
+
+  - arg:
+      name: motion_stop_planner_type
+      default: obstacle_stop_planner
+      # option: obstacle_stop_planner
+      #         obstacle_cruise_planner
+      #         none
+
+  - arg:
+      name: motion_velocity_smoother_type
+      default: JerkFiltered
+      # option: JerkFiltered
+      #         L2
+      #         Linf(Unstable)
+      #         Analytical
+
+  - arg:
+      name: launch_surround_obstacle_checker
+      default: "true"
+
+  # parking modules
+  - arg:
+      name: launch_parking_module
+      default: "true"

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

@@ -190,7 +190,8 @@
           max_deviation_from_lane: 0.5                  # [m]
         # avoidance distance parameters
         longitudinal:
-          prepare_time: 2.0                             # [s]
+          min_prepare_time: 1.0                         # [s]
+          max_prepare_time: 2.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]

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

@@ -5,9 +5,6 @@
 
     traffic_light_signal_timeout: 1.0
 
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-
     planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0

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

@@ -7,7 +7,7 @@
 
     # Dynamic expansion by using the path curvature
     dynamic_expansion:
-      enabled: false
+      enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
       smoothing:
@@ -19,14 +19,14 @@
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
         extra_width: 1.0 # [m] extra length to add to the width
       dynamic_objects:
-        avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+        avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
         extra_footprint_offset:
           front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
           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)
+        max_arc_length: 100.0 # [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)
         reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
       avoid_linestring:

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

@@ -88,6 +88,7 @@
       regulation:
         crosswalk: false
         intersection: false
+        traffic_light: true
 
       # ego vehicle stuck detection
       stuck_detection:

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

@@ -4,7 +4,6 @@
 /**:
   ros__parameters:
     external_request_lane_change_left:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
@@ -13,7 +12,6 @@
       max_module_size: 1
 
     external_request_lane_change_right:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
@@ -22,7 +20,6 @@
       max_module_size: 1
 
     lane_change_left:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
@@ -31,7 +28,6 @@
       max_module_size: 1
 
     lane_change_right:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
@@ -40,7 +36,6 @@
       max_module_size: 1
 
     start_planner:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -49,7 +44,6 @@
       max_module_size: 1
 
     side_shift:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -58,7 +52,6 @@
       max_module_size: 1
 
     goal_planner:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -67,7 +60,6 @@
       max_module_size: 1
 
     avoidance:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -76,7 +68,6 @@
       max_module_size: 1
 
     avoidance_by_lc:
-      enable_module: true
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
@@ -85,7 +76,6 @@
       max_module_size: 1
 
     dynamic_avoidance:
-      enable_module: false
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true

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

@@ -1,6 +1,9 @@
 /**:
   ros__parameters:
     start_planner:
+
+      verbose: false
+
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0

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

@@ -8,19 +8,3 @@
     system_delay: 0.5
     delay_response_time: 0.5
     is_publish_debug_path: false # publish all debug path with lane id in each module
-    launch_modules:
-      - behavior_velocity_planner::CrosswalkModulePlugin
-      - behavior_velocity_planner::WalkwayModulePlugin
-      - behavior_velocity_planner::TrafficLightModulePlugin
-      - behavior_velocity_planner::IntersectionModulePlugin      # Intersection module should be before merge from private to declare intersection parameters.
-      - behavior_velocity_planner::MergeFromPrivateModulePlugin
-      - behavior_velocity_planner::BlindSpotModulePlugin
-      - behavior_velocity_planner::DetectionAreaModulePlugin
-      # behavior_velocity_planner::VirtualTrafficLightModulePlugin
-      - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
-      - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
-      # behavior_velocity_planner::OcclusionSpotModulePlugin
-      # behavior_velocity_planner::RunOutModulePlugin
-      # behavior_velocity_planner::SpeedBumpModulePlugin
-      - behavior_velocity_planner::OutOfLaneModulePlugin
-      # behavior_velocity_planner::NoDrivableLaneModulePlugin

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

@@ -35,18 +35,18 @@
           distance_thr: 1.0 # [m]
 
       collision_detection:
-        state_transit_margin_time: 0.0
+        state_transit_margin_time: 0.5
         min_predicted_path_confidence: 0.05
         minimum_ego_predicted_velocity: 1.388 # [m/s]
         fully_prioritized:
           collision_start_margin_time: 2.0
           collision_end_margin_time: 0.0
         partially_prioritized:
-          collision_start_margin_time: 4.0
-          collision_end_margin_time: 6.0
+          collision_start_margin_time: 3.0
+          collision_end_margin_time: 2.0
         not_prioritized:
-          collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
-          collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+          collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
+          collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
         use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
         minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity

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

@@ -2,7 +2,7 @@
   ros__parameters:
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
       mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
-      skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane
+      skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
 
       threshold:
         time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
@@ -17,6 +17,7 @@
         use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
                                    # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
         predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
+        distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
 
       overlap:
         minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
@@ -26,6 +27,7 @@
         skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
         precision: 0.1  # [m] precision when inserting a stop pose in the path
         distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
+        min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
         slowdown:
           distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
           velocity: 2.0  # [m/s] slowdown velocity

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

@@ -45,7 +45,7 @@
 
       # parameter to avoid sudden stopping
       slow_down_limit:
-        enable: true
+        enable: false
         max_jerk: -0.7  # [m/s^3] minimum jerk deceleration for safe brake.
         max_acc : -2.0  # [m/s^2] minimum accel deceleration for safe brake.