Merge remote-tracking branch 'origin/main' into obstacle_cruise_plann…

…er_pointcloud
mitukou1109 · Jun 12, 2024 · f7c4289 · f7c4289
2 parents 1c5c362 + b860c62
commit f7c4289
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diff --git a/.github/labeler.yaml b/.github/labeler.yaml
@@ -0,0 +1,33 @@
+"type:ci":
+  - .github/**/*
+  - "*.json"
+  - "*.yaml"
+  - "*.cfg"
+  - .clang-format
+  - .gitignore
+  - .prettierignore
+"type:documentation":
+  - "**/*.md"
+  - "**/*.rst"
+  - "**/*.jpg"
+  - "**/*.png"
+  - "**/*.svg"
+"component:control":
+  - "**/*control*"
+"component:localization":
+  - "**/*localization*"
+"component:map":
+  - "**/*map*"
+"component:perception":
+  - "**/*perception*"
+"component:planning":
+  - "**/*planning*"
+"component:sensing":
+  - "**/*sensing*"
+"component:simulation":
+  - "**/*simulator*"
+"component:system":
+  - "**/*system*"
+"component:ui":
+  - "**/*.rviz"
+  - "**/rviz"
diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml
@@ -0,0 +1,16 @@
+name: pr-labeler
+on:
+  pull_request_target:
+    types:
+      - opened
+      - edited
+      - synchronize
+
+jobs:
+  label:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v4
+        with:
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          configuration-path: .github/labeler.yaml
diff --git a/...g/autonomous_emergency_braking.param.yaml → ...g/autonomous_emergency_braking.param.yaml b/...g/autonomous_emergency_braking.param.yaml → ...g/autonomous_emergency_braking.param.yaml
@@ -1,26 +1,38 @@
 /**:
   ros__parameters:
-    publish_debug_pointcloud: false
+    # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: true
-    path_footprint_extra_margin: 4.0
+    use_imu_path: false
+    min_generated_path_length: 0.5
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
+
+    # Debug
+    publish_debug_pointcloud: false
+
+    # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
     voxel_grid_x: 0.05
     voxel_grid_y: 0.05
     voxel_grid_z: 100000.0
-    min_generated_path_length: 0.5
+
+    # Point cloud cropping
     expand_width: 0.1
+    path_footprint_extra_margin: 4.0
+
+    # Point cloud clustering
+    cluster_tolerance: 0.1 #[m]
+    minimum_cluster_size: 10
+    maximum_cluster_size: 10000
+
+    # RSS distance collision check
     longitudinal_offset: 2.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    cluster_tolerance: 0.1 #[m]
-    minimum_cluster_size: 10
-    maximum_cluster_size: 10000
-    imu_prediction_time_horizon: 1.5
-    imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
-    mpc_prediction_time_interval: 0.1
     collision_keeping_sec: 2.0
+    previous_obstacle_keep_time: 1.0
     aeb_hz: 10.0
diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml
@@ -16,6 +16,7 @@
 
     # Core
     footprint_margin_scale: 1.0
+    footprint_extra_margin: 0.0
     resample_interval: 0.3
     max_deceleration: 2.8
     delay_time: 1.3

diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
@@ -48,7 +48,7 @@
       # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator).
       # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0.
       # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
-      n_startup_trials: 20
+      n_startup_trials: 100
 
 
     validation:

diff --git a/...ojection_based_fusion/roi_sync.param.yaml → ...ion_based_fusion/fusion_common.param.yaml b/...ojection_based_fusion/roi_sync.param.yaml → ...ion_based_fusion/fusion_common.param.yaml
diff --git a/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : false
       BICYCLE : false
       PEDESTRIAN : false
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+       enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
diff --git a/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -1,7 +1,10 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 10.0 #[s]
+    prediction_time_horizon:
+      vehicle: 15.0 #[s]
+      pedestrian: 10.0 #[s]
+      unknown: 10.0 #[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]
@@ -27,6 +30,9 @@
       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
+    use_crosswalk_user_history:
+       match_lost_and_appeared_users: false
+       remember_lost_users: false
 
     # parameters for lc prediction
     lane_change_detection:

diff --git a/...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
@@ -0,0 +1,82 @@
+/**:
+  ros__parameters:
+    input_channels:
+      detected_objects:
+        topic: "/perception/object_recognition/detection/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "detected_objects"
+          short_name: "all"
+      # LIDAR - rule-based
+      lidar_clustering:
+        topic: "/perception/object_recognition/detection/clustering/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "clustering"
+          short_name: "Lcl"
+      # LIDAR - DNN
+      lidar_centerpoint:
+        topic: "/perception/object_recognition/detection/centerpoint/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_centerpoint_validated:
+        topic: "/perception/object_recognition/detection/centerpoint/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_apollo:
+        topic: "/perception/object_recognition/detection/apollo/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      lidar_apollo_validated:
+        topic: "/perception/object_recognition/detection/apollo/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      # LIDAR-CAMERA - DNN
+      # cspell:ignore lidar_pointpainitng pointpainting
+      lidar_pointpainitng:
+        topic: "/perception/object_recognition/detection/pointpainting/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      lidar_pointpainting_validated:
+        topic: "/perception/object_recognition/detection/pointpainting/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      # CAMERA-LIDAR
+      camera_lidar_fusion:
+        topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "camera_lidar_fusion"
+          short_name: "CLf"
+      # CAMERA-LIDAR+TRACKER
+      detection_by_tracker:
+        topic: "/perception/object_recognition/detection/detection_by_tracker/objects"
+        can_spawn_new_tracker: false
+        optional:
+          name: "detection_by_tracker"
+          short_name: "dbT"
+      # RADAR
+      radar:
+        topic: "/sensing/radar/detected_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar"
+          short_name: "R"
+      radar_far:
+        topic: "/perception/object_recognition/detection/radar/far_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar_far"
+          short_name: "Rf"
diff --git a/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -13,11 +13,10 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
-    pass_through_unknown_objects: false
-    publish_untracked_objects: false
 
     # debug parameters
     publish_processing_time: true
     publish_tentative_objects: false
+    publish_debug_markers: true
     diagnostics_warn_delay: 0.5      # [sec]
     diagnostics_error_delay: 1.0     # [sec]
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -1,13 +1,13 @@
 launch:
   # behavior path modules
   - arg:
-      name: launch_avoidance_module
+      name: launch_static_obstacle_avoidance
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
       default: "true"
   - arg:
-      name: launch_dynamic_avoidance_module
+      name: launch_dynamic_obstacle_avoidance
       default: "false"
   - arg:
       name: launch_sampling_planner_module
@@ -74,9 +74,6 @@ launch:
   - 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"
@@ -93,11 +90,19 @@ launch:
 
   - arg:
       name: motion_path_planner_type
-      default: obstacle_avoidance_planner
-      # option: obstacle_avoidance_planner
+      default: path_optimizer
+      # option: path_optimizer
       #         path_sampler
       #         none
 
+  # motion velocity planner modules
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_velocity_limiter_module
+      default: "true"
+
   - arg:
       name: motion_stop_planner_type
       default: obstacle_cruise_planner
@@ -106,7 +111,7 @@ launch:
       #         none
 
   - arg:
-      name: motion_velocity_smoother_type
+      name: velocity_smoother_type
       default: JerkFiltered
       # option: JerkFiltered
       #         L2

diff --git a/...n_velocity_smoother/Analytical.param.yaml → ...e_velocity_smoother/Analytical.param.yaml b/...n_velocity_smoother/Analytical.param.yaml → ...e_velocity_smoother/Analytical.param.yaml
diff --git a/...velocity_smoother/JerkFiltered.param.yaml → ...velocity_smoother/JerkFiltered.param.yaml b/...velocity_smoother/JerkFiltered.param.yaml → ...velocity_smoother/JerkFiltered.param.yaml
diff --git a/...on/motion_velocity_smoother/L2.param.yaml → .../autoware_velocity_smoother/L2.param.yaml b/...on/motion_velocity_smoother/L2.param.yaml → .../autoware_velocity_smoother/L2.param.yaml
diff --git a/.../motion_velocity_smoother/Linf.param.yaml → ...utoware_velocity_smoother/Linf.param.yaml b/.../motion_velocity_smoother/Linf.param.yaml → ...utoware_velocity_smoother/Linf.param.yaml
diff --git a/...other/motion_velocity_smoother.param.yaml → ...ity_smoother/velocity_smoother.param.yaml b/...other/motion_velocity_smoother.param.yaml → ...ity_smoother/velocity_smoother.param.yaml
diff --git a/...ic_avoidance/dynamic_avoidance.param.yaml → ...ule/dynamic_obstacle_avoidance.param.yaml b/...ic_avoidance/dynamic_avoidance.param.yaml → ...ule/dynamic_obstacle_avoidance.param.yaml
diff --git a/...th_planner/avoidance/avoidance.param.yaml → ...dule/static_obstacle_avoidance.param.yaml b/...th_planner/avoidance/avoidance.param.yaml → ...dule/static_obstacle_avoidance.param.yaml
@@ -270,7 +270,7 @@
       constraints:
         # lateral constraints
         lateral:
-          velocity: [1.0, 1.38, 11.1]                   # [m/s]
+          velocity: [1.39, 4.17, 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]
@@ -293,4 +293,11 @@
 
       # for debug
       debug:
-        marker: false
+        enable_other_objects_marker: false
+        enable_other_objects_info: false
+        enable_detection_area_marker: false
+        enable_drivable_bound_marker: false
+        enable_safety_check_marker: false
+        enable_shift_line_marker: false
+        enable_lane_marker: false
+        enable_misc_marker: false
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -19,6 +19,7 @@
     turn_signal_minimum_search_distance: 10.0
     turn_signal_search_time: 3.0
     turn_signal_shift_length_threshold: 0.3
+    turn_signal_remaining_shift_length_threshold: 0.1
     turn_signal_on_swerving: true
 
     enable_akima_spline_first: false

diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -59,7 +59,7 @@
       priority: 1
       max_module_size: 1
 
-    avoidance:
+    static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
@@ -75,7 +75,7 @@
       priority: 3
       max_module_size: 1
 
-    dynamic_avoidance:
+    dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -40,6 +40,7 @@
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0
       lane_departure_margin: 0.2
+      lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
       pull_out_max_steer_angle: 0.26  # 15deg
       # search start pose backward

diff --git a/...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -3,10 +3,12 @@
     blind_spot:
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
-      backward_length: 50.0 # [m]
-      ignore_width_from_center_line: 0.0 # [m]
-      max_future_movement_time: 10.0 # [second]
-      threshold_yaw_diff: 0.523 # [rad]
+      backward_detection_length: 100.0 # [m]
+      ignore_width_from_center_line: 0.7 # [m]
       adjacent_extend_width: 1.5 # [m]
       opposite_adjacent_extend_width: 1.5 # [m]
-      enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      max_future_movement_time: 10.0 # [second]
+      ttc_min: -5.0 # [s]
+      ttc_max: 5.0 # [s]
+      ttc_ego_minimal_velocity: 5.0 # [m/s]
+      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -43,6 +43,7 @@
         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: [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
+        ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point
 
         no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.

diff --git a/...ner/obstacle_avoidance_planner.param.yaml → ..._path_optimizer/path_optimizer.param.yaml b/...ner/obstacle_avoidance_planner.param.yaml → ..._path_optimizer/path_optimizer.param.yaml
diff --git a/...g/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml b/...g/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    smooth_velocity_before_planning: true  # [-] if true, smooth the velocity profile of the input trajectory before planning
diff --git a/...iter/obstacle_velocity_limiter.param.yaml → ...nner/obstacle_velocity_limiter.param.yaml b/...iter/obstacle_velocity_limiter.param.yaml → ...nner/obstacle_velocity_limiter.param.yaml