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Merge pull request autowarefoundation#643 from tier4/tmp/beta/v0.43.1.0
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feat: update v0.43.1.0
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@tkimura4
tkimura4 authored Sep 22, 2023
2 parents 5e45407 + 52361ff commit 4fe5771
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Showing 16 changed files with 187 additions and 64 deletions.
20 changes: 0 additions & 20 deletions ...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
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8 changes: 0 additions & 8 deletions autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
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7 changes: 0 additions & 7 deletions ...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
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14 changes: 8 additions & 6 deletions ...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
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Expand Up @@ -7,9 +7,11 @@
max_cluster_size: 3000
use_height: false
input_frame: "base_link"
max_x: 15.0
min_x: -10.0
max_y: 10.0
min_y: -10.0
max_z: 10.0
min_z: -4.5

# low height crop box filter param
max_x: 200.0
min_x: -200.0
max_y: 200.0
min_y: -200.0
max_z: 2.0
min_z: -10.0
2 changes: 0 additions & 2 deletions ...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
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@@ -1,7 +1,5 @@
/**:
ros__parameters:
# use downsample filter before compare map
use_down_sample_filter: True

# voxel size for downsample filter
down_sample_voxel_size: 0.1
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4 changes: 2 additions & 2 deletions ...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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Expand Up @@ -9,8 +9,8 @@
parameters:
min_x: -100.0
max_x: 150.0
min_y: -70.0
max_y: 70.0
min_y: -90.0
max_y: 90.0
max_z: 2.5
min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
negative: False
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2 changes: 1 addition & 1 deletion autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
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Expand Up @@ -5,4 +5,4 @@
occupied_to_free: 0.05
free_to_occupied: 0.2
free_to_free: 0.8
v_ratio: 0.5
v_ratio: 1.5
6 changes: 3 additions & 3 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -70,14 +70,14 @@
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
unknown:
is_target: false
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
envelope_buffer_margin: 0.1
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.3
safety_buffer_lateral: -0.2
safety_buffer_longitudinal: 0.0
bicycle:
is_target: true
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2 changes: 1 addition & 1 deletion ...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
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Expand Up @@ -43,7 +43,7 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
unknown:
is_target: true
is_target: false
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
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70 changes: 67 additions & 3 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Expand Up @@ -2,7 +2,6 @@
ros__parameters:
goal_planner:
# general params
minimum_request_length: 100.0
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
Expand All @@ -22,8 +21,9 @@

# occupancy grid map
occupancy_grid:
use_occupancy_grid: true
use_occupancy_grid_for_longitudinal_margin: false
use_occupancy_grid_for_goal_search: true
use_occupancy_grid_for_goal_longitudinal_margin: false
use_occupancy_grid_for_path_collision_check: false
occupancy_grid_collision_check_margin: 0.0
theta_size: 360
obstacle_threshold: 60
Expand All @@ -33,9 +33,11 @@
use_object_recognition: true
object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
object_recognition_collision_check_max_extra_stopping_margin: 1.0
th_moving_object_velocity: 1.0

# pull over
pull_over:
minimum_request_length: 100.0
pull_over_velocity: 3.0
pull_over_minimum_velocity: 1.38
decide_path_distance: 10.0
Expand Down Expand Up @@ -104,6 +106,68 @@
neighbor_radius: 8.0
margin: 1.0

stop_condition:
maximum_deceleration_for_stop: 1.0
maximum_jerk_for_stop: 1.0
path_safety_check:
# EgoPredictedPath
ego_predicted_path:
acceleration: 1.0
time_horizon: 10.0
time_resolution: 0.5
min_slow_speed: 0.0
delay_until_departure: 1.0
target_velocity: 1.0
# For target object filtering
target_filtering:
safety_check_time_horizon: 5.0
safety_check_time_resolution: 1.0
# detection range
object_check_forward_distance: 10.0
object_check_backward_distance: 100.0
ignore_object_velocity_threshold: 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
# ObjectLaneConfiguration
object_lane_configuration:
check_current_lane: true
check_right_side_lane: true
check_left_side_lane: true
check_shoulder_lane: true
check_other_lane: false
include_opposite_lane: false
invert_opposite_lane: false
check_all_predicted_path: true
use_all_predicted_path: true
use_predicted_path_outside_lanelet: false

# For safety check
safety_check_params:
# safety check configuration
enable_safety_check: false # Don't set to true if auto_mode is enabled
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 1.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
# hysteresis factor to expand/shrink polygon with the value
hysteresis_factor_expand_rate: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0

# debug
debug:
print_debug_info: false
10 changes: 10 additions & 0 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Expand Up @@ -8,6 +8,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -16,6 +17,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -24,6 +26,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -32,6 +35,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -40,6 +44,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 0
max_module_size: 1

Expand All @@ -48,6 +53,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 2
max_module_size: 1

Expand All @@ -56,6 +62,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
max_module_size: 1

Expand All @@ -64,6 +71,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 5
max_module_size: 1

Expand All @@ -72,6 +80,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
max_module_size: 1

Expand All @@ -80,5 +89,6 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 3
max_module_size: 1
13 changes: 11 additions & 2 deletions .../lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml
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Expand Up @@ -8,6 +8,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -16,6 +17,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

Expand All @@ -24,6 +26,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -32,6 +35,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

Expand All @@ -40,6 +44,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 0
max_module_size: 1

Expand All @@ -48,6 +53,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 2
max_module_size: 1

Expand All @@ -56,6 +62,7 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
max_module_size: 1

Expand All @@ -64,15 +71,16 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 5
max_module_size: 1

# NOTE: This module is unstable. Deprecated for now.
avoidance_by_lc:
enable_module: false
enable_module: true
enable_rtc: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
max_module_size: 1

Expand All @@ -81,5 +89,6 @@
enable_rtc: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 3
max_module_size: 1
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