Merge pull request autowarefoundation#260 from tier4/beta-to-tier4-ma…

…in-sync

chore: sync beta branch beta/v0.18.0 with tier4/main

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

@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
+    time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2
 

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

@@ -29,5 +29,6 @@
         diff_dist_threshold_to_left_bound: 0.29 #[m]
         diff_dist_threshold_to_right_bound: -0.29 #[m]
       num_continuous_state_transition: 3
+      consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]

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

@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    # default tracker models for each class
+    car_tracker: "multi_vehicle_tracker"
+    truck_tracker: "multi_vehicle_tracker"
+    bus_tracker: "multi_vehicle_tracker"
+    trailer_tracker: "multi_vehicle_tracker"
+    pedestrian_tracker: "pedestrian_and_bicycle_tracker"
+    bicycle_tracker: "pedestrian_and_bicycle_tracker"
+    motorcycle_tracker: "pedestrian_and_bicycle_tracker"
+
+    # default tracker node parameters
+    publish_rate: 10.0
+    world_frame_id: map
+    enable_delay_compensation: true
+    pass_through_unknown_objects: false
+    publish_untracked_objects: false
+    debug_flag: false

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

@@ -27,7 +27,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -38,7 +37,6 @@
           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:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -49,7 +47,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -60,7 +57,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -71,7 +67,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -82,7 +77,6 @@
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -93,7 +87,6 @@
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -104,7 +97,6 @@
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -119,6 +111,16 @@
 
       # For target object filtering
       target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: true                                  # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # detection range
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
@@ -146,8 +148,22 @@
               front_distance: 30.0                       # [m]
               behind_distance: 30.0                      # [m]
 
+        # params for filtering objects that are in intersection
+        intersection:
+          yaw_deviation: 0.349                           # [rad] (default 20.0deg)
+
       # For safety check
       safety_check:
+        # safety check target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: false                                 # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # safety check configuration
         enable: true                                     # [-]
         check_current_lane: false                        # [-]
@@ -215,6 +231,10 @@
         stop_buffer: 1.0                                # [m]
 
       policy:
+        # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver".
+        # "per_shift_line": request approval for each shift line.
+        # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return).
+        make_approval_request: "per_shift_line"
         # policy for vehicle slow down behavior. select "best_effort" or "reliable".
         # "best_effort": slow down deceleration & jerk are limited by constraints.
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.

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

@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 2                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -16,7 +15,6 @@
           avoid_margin_lateral: 0.0                    # [m]
           safety_buffer_lateral: 0.0                   # [m]
         truck:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -25,7 +23,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         bus:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -34,7 +31,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         trailer:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -43,7 +39,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -52,7 +47,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         bicycle:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -61,7 +55,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
         motorcycle:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -70,7 +63,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
         pedestrian:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -80,3 +72,16 @@
           safety_buffer_lateral: 1.0
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
+
+      # For target object filtering
+      target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                    # [-]
+          truck: true                                  # [-]
+          bus: true                                    # [-]
+          trailer: true                                # [-]
+          unknown: true                                # [-]
+          bicycle: false                               # [-]
+          motorcycle: false                            # [-]
+          pedestrian: false                            # [-]

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

@@ -28,10 +28,12 @@
         cut_in_object:
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
+          min_object_vel: 0.5 # [m/s]
 
         cut_out_object:
           max_time_from_outside_ego_path: 2.0 # [s]
           min_object_lat_vel: 0.3 # [m/s]
+          min_object_vel: 0.5 # [m/s]
 
         crossing_object:
           min_overtaking_object_vel: 1.0
@@ -41,8 +43,11 @@
 
         front_object:
           max_object_angle: 0.785
+          min_object_vel: -0.5               # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
+          max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
       drivable_area_generation:
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 

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

@@ -119,7 +119,7 @@
         # EgoPredictedPath
         ego_predicted_path:
           min_velocity: 1.0
-          acceleration: 1.0
+          min_acceleration: 1.0
           max_velocity: 1.0
           time_horizon_for_front_object: 10.0
           time_horizon_for_rear_object: 10.0
@@ -130,7 +130,7 @@
           safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
-          object_check_forward_distance: 10.0
+          object_check_forward_distance: 100.0
           object_check_backward_distance: 100.0
           ignore_object_velocity_threshold: 1.0
           # ObjectTypesToCheck
@@ -159,7 +159,9 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: false # Don't set to true if auto_mode is enabled
+          enable_safety_check: true
+          method: "integral_predicted_polygon"
+          keep_unsafe_time: 3.0
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
@@ -169,6 +171,11 @@
             lateral_distance_max_threshold: 2.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
+          integral_predicted_polygon_params:
+            forward_margin: 1.0
+            backward_margin: 1.0
+            lat_margin: 1.0
+            time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           # temporary

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

@@ -2,8 +2,6 @@
   ros__parameters:
     start_planner:
 
-      verbose: false
-
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
@@ -85,8 +83,7 @@
         # EgoPredictedPath
         ego_predicted_path:
           min_velocity: 0.0
-          acceleration: 1.0
-          max_velocity: 1.0
+          min_acceleration: 1.0
           time_horizon_for_front_object: 10.0
           time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
@@ -125,7 +122,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: false # Don't set to true if auto_mode is enabled
+          enable_safety_check: true
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
@@ -140,3 +137,21 @@
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
+
+      surround_moving_obstacle_check:
+          search_radius: 10.0
+          th_moving_obstacle_velocity: 1.0
+          # ObjectTypesToCheck
+          object_types_to_check:
+            check_car: true
+            check_truck: true
+            check_bus: true
+            check_trailer: true
+            check_bicycle: true
+            check_motorcycle: true
+            check_pedestrian: true
+            check_unknown: false
+
+      # debug
+      debug:
+        print_debug_info: false

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

@@ -27,6 +27,7 @@
 
       # param for stuck vehicles
       stuck_vehicle:
+        enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
         stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
         max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
         stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk