Merge pull request autowarefoundation#768 from tier4/sync-beta-310-br…

…anch chore: sync beta/v3.1.0 branch
technolojin · Aug 27, 2024 · f28c21b · f28c21b
2 parents 669a9d6 + e25e8db
commit f28c21b
Show file tree

Hide file tree

Showing 16 changed files with 533 additions and 78 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -75,4 +75,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
+    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -62,11 +62,11 @@
 
     # acceleration limit
     max_acc: 1.86
-    min_acc: -6.00
+    min_acc: -3.36
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -30.0
+    min_jerk: -5.0
     max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]
 
     # slope compensation

diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -10,7 +10,7 @@
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
-    emergency_acceleration: -4.0
+    emergency_acceleration: -2.5
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
@@ -19,8 +19,8 @@
       reference_speed_points: [0.1, 0.2, 20.0, 30.0]
       steer_lim: [1.0, 1.0, 1.0, 0.8]
       steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
-      lon_acc_lim: [6.0, 6.0, 6.0, 6.0]
-      lon_jerk_lim: [80.0, 30.0, 30.0, 30.0]
+      lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lon_jerk_lim: [5.0, 5.0, 5.0, 4.0]
       lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
       lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
       actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]

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
@@ -50,3 +50,8 @@
       consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]
+
+    # debug parameters
+    publish_processing_time: true
+    publish_processing_time_detail: true
+    publish_debug_markers: true
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -55,6 +55,7 @@
         maximum_jerk: 1.0
         path_priority: "efficient_path" # "efficient_path" or "close_goal"
         efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
+        lane_departure_check_expansion_margin: 0.0
 
         # shift parking
         shift_parking:

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -4,9 +4,8 @@
       backward_lane_length: 200.0 #[m]
       prepare_duration: 3.0         # [s]
 
-      backward_length_buffer_for_end_of_lane: 7.0 # [m]
-      backward_length_buffer_for_blocking_object: 0.5 # [m]
-      lane_change_finish_judge_buffer: 0.0      # [m]
+      backward_length_buffer_for_end_of_lane: 3.0 # [m]
+      backward_length_buffer_for_blocking_object: 3.0 # [m]
 
       lane_changing_lateral_jerk: 0.3             # [m/s3]
 
@@ -27,34 +26,47 @@
       min_longitudinal_acc: -0.5
       max_longitudinal_acc: 0.2
 
+      skip_process:
+        longitudinal_distance_diff_threshold:
+          prepare: 1.0
+          lane_changing: 1.0
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
         collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
-          expected_rear_deceleration: -1.0
-          rear_vehicle_reaction_time: 2.0
-          rear_vehicle_safety_time_margin: 1.0
+          expected_rear_deceleration: -1.5
+          rear_vehicle_reaction_time: 2.5
+          rear_vehicle_safety_time_margin: 0.8
           lateral_distance_max_threshold: 2.0
-          longitudinal_distance_min_threshold: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          longitudinal_distance_min_threshold: 6.0
+          longitudinal_velocity_delta_time: 0.0
+        parked:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.0
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 6.0
+          longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.5
           rear_vehicle_reaction_time: 1.0
           rear_vehicle_safety_time_margin: 0.5
           lateral_distance_max_threshold: 0.75
           longitudinal_distance_min_threshold: 2.0
-          longitudinal_velocity_delta_time: 0.3
+          longitudinal_velocity_delta_time: 0.0
         stuck:
           expected_front_deceleration: -1.0
-          expected_rear_deceleration: -2.0
-          rear_vehicle_reaction_time: 1.5
-          rear_vehicle_safety_time_margin: 0.8
-          lateral_distance_max_threshold: 1.0
-          longitudinal_distance_min_threshold: 2.5
-          longitudinal_velocity_delta_time: 0.6
+          expected_rear_deceleration: -1.0
+          rear_vehicle_reaction_time: 2.0
+          rear_vehicle_safety_time_margin: 1.0
+          lateral_distance_max_threshold: 2.0
+          longitudinal_distance_min_threshold: 6.0
+          longitudinal_velocity_delta_time: 0.0
 
         # lane expansion for object filtering
         lane_expansion:
@@ -109,7 +121,9 @@
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
 
-      finish_judge_lateral_threshold: 0.2        # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+      finish_judge_lateral_threshold: 0.1        # [m]
+      finish_judge_lateral_angle_deviation: 1.0 # [deg]
 
       # debug
       publish_debug_marker: true
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -70,15 +70,15 @@
           collision_start_margin_time: 2.0
           collision_end_margin_time: 0.0
         partially_prioritized:
-          collision_start_margin_time: 4.0
-          collision_end_margin_time: 6.0
+          collision_start_margin_time: 3.0
+          collision_end_margin_time: 2.0
         not_prioritized:
-          collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
-          collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
+          collision_start_margin_time: 3.0
+          collision_end_margin_time: 2.0
         yield_on_green_traffic_light:
           distance_to_assigned_lanelet_start: 10.0
           duration: 8.0
-          object_dist_to_stopline: 10.0 # [m]
+          object_dist_to_stopline: 10.0
         ignore_on_amber_traffic_light:
           object_expected_deceleration:
             car: 2.0

diff --git a/...unch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/...unch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml
@@ -2,5 +2,5 @@
   ros__parameters:
     update_rate: 10
     min_acceleration: -1.0
-    max_jerk: 0.6
-    min_jerk: -0.6
+    max_jerk: 0.3
+    min_jerk: -0.3
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
@@ -6,7 +6,7 @@ files:
   - { path: $(dirname)/perception.yaml }
   - { path: $(dirname)/planning.yaml }
   - { path: $(dirname)/others.yaml }
-  # - { path: $(dirname)/sensing.yaml }
+  - { path: $(dirname)/sensing.yaml }
   - { path: $(dirname)/system.yaml }
   - { path: $(dirname)/vehicle.yaml }
 

diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml
@@ -27,7 +27,7 @@ units:
       - { type: link, link: /control/004-lane_departure-error }
       - { type: link, link: /control/005-trajectory_deviation-error }
       # - { type: link, link: /control/009-aeb_emergency_stop }
-      - { type: link, link: /control/010-max_distance_deviation-error }
+      # - { type: link, link: /control/010-max_distance_deviation-error }
       - { type: link, link: /control/011-slip_detection }
 
   - path: /control/comfortable_stop

diff --git a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml
@@ -25,8 +25,8 @@ units:
     list:
       #- { type: link, link: /others/002-blockage_validation-error }
       - { type: link, link: /others/004-concat_status }
-      - { type: link, link: /others/005-visibility_validation-error }
-      - { type: link, link: /others/012-vehicle_stuck_checker }
+      # - { type: link, link: /others/005-visibility_validation-error }
+      # - { type: link, link: /others/012-vehicle_stuck_checker }
 
   - path: /others/comfortable_stop
     type: and

diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml
@@ -35,7 +35,7 @@ units:
       - { type: link, link: /planning/010-trajectory_steering_validation-error }
       - { type: link, link: /planning/011-trajectory_steering_rate_validation-error }
       - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error }
-      - { type: link, link: /planning/013-collision_checker-error }
+      # - { type: link, link: /planning/013-collision_checker-error }
 
   - path: /planning/comfortable_stop
     type: and