Merge pull request autowarefoundation#555 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

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

@@ -1,42 +1,51 @@
 /**:
   ros__parameters:
     crosswalk:
-      show_processing_time: false # [-] whether to show processing time
+      common:
+        show_processing_time: false # [-] whether to show processing time
+        # param for input data
+        traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for stop position
-      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
-      stop_line_margin: 10.0 # [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_margin meters before the object)
-      stop_margin: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
-      stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk
+      stop_position:
+        stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding
 
-      # param for ego velocity
-      min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
-      max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
-      max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
-      no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
+        # For the Lanelet2 map with no explicit stop lines
+        stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
+        # For the case where the crosswalk width is very wide
+        far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
+        # For the case where the stop position is determined according to the object position.
+        stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
-      # param for stuck vehicle
-      stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
-      max_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
+      # param for ego's slow down velocity
+      slow_down:
+        min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
+        max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
+        max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
+        no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
 
-      # param for pass judge logic
-      disable_stop_for_yield_cancel: false
-      ego_pass_first_margin: 4.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-      ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
-      stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
-      min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
-      max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
-      ego_yield_query_stop_duration: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
-
-      # param for input data
-      tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
+      # param for stuck vehicles
+      stuck_vehicle:
+        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
 
-      # param for target area & object
-      crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
-      target_object:
-        unknown: true # [-] whether to look and stop by UNKNOWN objects
-        bicycle: true # [-] whether to look and stop by BICYCLE objects
-        motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
-        pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
+      # param for pass judge logic
+      pass_judge:
+        ego_pass_first_margin: 4.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
+        min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
+        ## param for yielding
+        disable_stop_for_yield_cancel: false
+        timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
+      # param for target object filtering
+      object_filtering:
+        crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        target_object:
+          unknown: true # [-] whether to look and stop by UNKNOWN objects
+          bicycle: true # [-] whether to look and stop by BICYCLE objects
+          motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
+          pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects

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

@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     walkway:
-      stop_duration_sec: 0.1 # [s] stop time at stop position
-      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+      stop_duration: 0.1 # [s] stop time at stop position
+      stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists