Merge pull request autowarefoundation#561 from tier4/feat/merge-v2.3.1

chore: merge v2.3.1

.github/workflows/comment-on-pr.yaml

@@ -0,0 +1,30 @@
+name: comment-on-pr
+
+on:
+  pull_request:
+    types:
+      - opened
+    branches:
+      - beta/v[0-9]+.[0-9]+.[0-9]+
+
+jobs:
+  comment:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Create comments
+        run: |
+          cat << 'EOF' > comments
+          ### betaブランチへマージする際のガイドライン
+          通常は`Squash and merge`を使用してください。
+          ただし、cherry-pickで複数の変更を取り込むときには、変更履歴を残すために`Create a merge commit`を使用してください。
+
+          ### Merging guidelines for the beta branch
+          Please use `Squash and merge` as the default.
+          However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history.
+          EOF
+
+      - name: Post comments
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          URL: ${{ github.event.pull_request.html_url }}
+        run: gh pr comment -F ./comments "${URL}"

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

@@ -1,26 +1,26 @@
 /**:
   ros__parameters:
-    transition_timeout: 10.0
+    transition_timeout: 6.0
     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
+    enable_engage_on_driving: true
 
-    check_engage_condition: false # set false if you do not want to care about the engage condition.
+    check_engage_condition: true # 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
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
-      dist_threshold: 1.5
+      dist_threshold: 0.5
       yaw_threshold: 0.524
       speed_upper_threshold: 10.0
       speed_lower_threshold: -10.0
       acc_threshold: 1.5
       lateral_acc_threshold: 1.0
       lateral_acc_diff_threshold: 0.5
     stable_check:
-      duration: 0.1
-      dist_threshold: 1.5
+      duration: 3.0
+      dist_threshold: 0.5
       speed_upper_threshold: 2.0
       speed_lower_threshold: -2.0
       yaw_threshold: 0.262

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

@@ -7,7 +7,7 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: false   # flag for path smoothing
+    enable_path_smoothing: true   # flag for path smoothing
     path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     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)
@@ -49,7 +49,7 @@
     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]
+    steer_rate_lim_dps_list_by_velocity: [10.0, 10.0, 10.0]             # steering angle rate limit list depending on velocity [deg/s]
     velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]
@@ -69,7 +69,7 @@
 
     # steer offset
     steering_offset:
-      enable_auto_steering_offset_removal: true
+      enable_auto_steering_offset_removal: false
       update_vel_threshold: 5.56
       update_steer_threshold: 0.035
       average_num: 1000

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

@@ -6,7 +6,7 @@
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: true
+    enable_keep_stopped_until_steer_convergence: false
 
     # state transition
     drive_state_stop_dist: 0.5
@@ -15,7 +15,7 @@
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
-    emergency_state_overshoot_stop_dist: 1.5
+    emergency_state_overshoot_stop_dist: 0.8
     emergency_state_traj_trans_dev: 3.0
     emergency_state_traj_rot_dev: 0.7854
 
@@ -39,9 +39,9 @@
     brake_keeping_acc: -0.2
 
     # smooth stop state
-    smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -0.8
-    smooth_stop_weak_acc: -0.3
+    smooth_stop_max_strong_acc: -0.8
+    smooth_stop_min_strong_acc: -1.3
+    smooth_stop_weak_acc: -0.6
     smooth_stop_weak_stop_acc: -0.8
     smooth_stop_strong_stop_acc: -3.4
     smooth_stop_max_fast_vel: 0.5
@@ -67,7 +67,7 @@
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -2.0
+    min_jerk: -5.0
 
     # pitch
     use_trajectory_for_pitch_calculation: true

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -24,9 +24,9 @@
 
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 100
+    pose_no_update_count_threshold_error: 250
     twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 100
+    twist_no_update_count_threshold_error: 250
 
     # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.0 # [m/s]
+    threshold_observable_velocity_mps: 0.5 # [m/s]

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

@@ -2,7 +2,7 @@
   ros__parameters:
     tracker_ignore_label:
       UNKNOWN : true
-      CAR : false
+      CAR : true
       TRUCK : false
       BUS : false
       TRAILER : false

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

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 10.0 #[s]
+    prediction_time_horizon: 18.0 #[s]
     lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]

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

@@ -1,16 +1,16 @@
 /**:
   ros__parameters:
-    additional_lidars: ["front_upper", "front_lower"]
+    additional_lidars: []
     ransac_input_topics: []
     use_single_frame_filter: False
     use_time_series_filter: True
 
     common_crop_box_filter:
       parameters:
-        min_x: -100.0
-        max_x: 150.0
-        min_y: -70.0
-        max_y: 70.0
+        min_x: -70.0
+        max_x: 120.0
+        min_y: -75.0
+        max_y: 75.0
         max_z: 3.2
         min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False

autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml

@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 10.0
+    v_ratio: 4.5

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

@@ -4,8 +4,8 @@
     normal:
       min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-      max_jerk: 1.0         # max jerk [m/sss]
+      min_jerk: -0.3        # min jerk [m/sss]
+      max_jerk: 0.6         # max jerk [m/sss]
 
     slow_down:
       min_acc: -1.0         # min deceleration [m/ss]

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

@@ -26,7 +26,7 @@
     # 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: 0.6           # 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]
 

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

@@ -32,20 +32,20 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 0.0                    # [m]
-          safety_buffer_lateral: 0.8                   # [m]
+          avoid_margin_lateral: 1.0                    # [m]
+          safety_buffer_lateral: 0.1                   # [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.
+          use_conservative_buffer_longitudinal: false  # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.8
+          avoid_margin_lateral: 1.0
+          safety_buffer_lateral: 0.4
           safety_buffer_longitudinal: 0.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         bus:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
@@ -55,7 +55,7 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         trailer:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
@@ -65,8 +65,9 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         unknown:
+          is_target: false
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -75,37 +76,37 @@
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         bicycle:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.8
+          envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         motorcycle:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.8
+          envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         pedestrian:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.8
+          envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
-          use_conservative_buffer_longitudinal: true
+          use_conservative_buffer_longitudinal: false
         lower_distance_for_polygon_expansion: 30.0      # [m]
         upper_distance_for_polygon_expansion: 100.0     # [m]
 
@@ -122,9 +123,9 @@
           motorcycle: true                               # [-]
           pedestrian: true                               # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 0.0                # [m]
         # filtering parking objects
-        threshold_distance_object_is_on_center: 1.0     # [m]
+        threshold_distance_object_is_on_center: 0.5     # [m]
         object_check_shiftable_ratio: 0.6               # [-]
         object_check_min_road_shoulder_width: 0.5       # [m]
         # lost object compensation
@@ -188,7 +189,7 @@
         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]
+        lateral_distance_max_threshold: 1.25             # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
         longitudinal_velocity_delta_time: 0.8            # [s]
 
@@ -199,8 +200,8 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          soft_road_shoulder_margin: 0.8                # [m]
-          hard_road_shoulder_margin: 0.8                # [m]
+          soft_road_shoulder_margin: 0.3                # [m]
+          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]
@@ -216,7 +217,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 25.0                                # [m]
+            buffer: 0.0                                 # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]
@@ -255,8 +256,8 @@
         lateral:
           velocity: [1.0, 1.38, 11.1]                   # [m/s]
           max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
-          min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
-          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
+          min_jerk_values: [0.1, 0.1, 0.2]              # [m/sss]
+          max_jerk_values: [0.2, 0.2, 1.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:

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

@@ -26,7 +26,7 @@
           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: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        max_arc_length: 80.0 # [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/goal_planner/goal_planner.param.yaml

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