Merge pull request autowarefoundation#842 from tier4/sync-tier4-upstream

chore: sync upstream

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -15,6 +15,7 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
+    has_variance: false
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -0,0 +1,27 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 4
+    max_voxel_size: 40000
+    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+    voxel_size: [0.32, 0.32, 10.0]
+    downsample_factor: 1
+    encoder_in_feature_size: 9
+    # post-process params
+    circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
+    iou_nms_search_distance_2d: 10.0
+    iou_nms_threshold: 0.1
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    has_variance: true
+    has_twist: true
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -14,6 +14,7 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
+    has_variance: false
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -16,6 +16,7 @@
       downsample_factor: 1
       encoder_in_feature_size: 12
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      has_variance: false
       has_twist: false
     densification_params:
       world_frame_id: "map"

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -30,6 +30,7 @@
         detection_range_z_max: 2.5
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
+        use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0

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

@@ -8,8 +8,8 @@
       target_object:
         car:
           execute_num: 2                               # [-]
-          moving_speed_threshold: 1.0                  # [m/s]
-          moving_time_threshold: 1.0                   # [s]
+          th_moving_speed: 1.0                         # [m/s]
+          th_moving_time: 1.0                          # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
           lateral_margin:
@@ -18,8 +18,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -28,8 +28,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -38,8 +38,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -49,8 +49,8 @@
         unknown:
           is_target: false
           execute_num: 1
-          moving_speed_threshold: 0.28                 # 1.0km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 0.28                        # 1.0km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           lateral_margin:
@@ -59,8 +59,8 @@
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
           execute_num: 2
-          moving_speed_threshold: 0.28                 # 1.0km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 0.28                        # 1.0km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           lateral_margin:
@@ -69,8 +69,8 @@
             hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
           execute_num: 2
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 1.0                         # 3.6km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           lateral_margin:
@@ -79,8 +79,8 @@
             hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
           execute_num: 2
-          moving_speed_threshold: 0.28                 # 1.0km/h
-          moving_time_threshold: 1.0
+          th_moving_speed: 0.28                        # 1.0km/h
+          th_moving_time: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           lateral_margin:

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

@@ -78,7 +78,10 @@
         pedestrian: true
 
       # collision check
-      enable_prepare_segment_collision_check: false
+      enable_collision_check_for_prepare_phase:
+        general_lanes: false
+        intersection: true
+        turns: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false

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

@@ -101,7 +101,7 @@
           creep_velocity: 0.8333
         peeking_offset: -0.5
         occlusion_required_clearance_distance: 55.0
-        possible_object_bbox: [1.5, 2.5]
+        possible_object_bbox: [1.75, 2.5]
         ignore_parked_vehicle_speed_threshold: 0.8333
         occlusion_detection_hold_time: 1.5
         temporal_stop_time_before_peeking: 0.1

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

@@ -17,6 +17,7 @@
       ego_cut_line_length: 3.0    # The width of the ego's cut line
       ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
       keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
+      keep_stop_point_time: 1.0   # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:

autoware_launch/launch/components/tier4_control_component.launch.xml

@@ -33,8 +33,6 @@
     <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/control/common/nearest_search.param.yaml"/>
 
     <!-- package param path -->
-    <arg name="lat_controller_param_path" value="$(var lat_controller_param_path)"/>
-    <arg name="lon_controller_param_path" value="$(var lon_controller_param_path)"/>
     <arg name="vehicle_cmd_gate_param_path" value="$(find-pkg-share autoware_launch)/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml"/>
     <arg name="lane_departure_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/lane_departure_checker/lane_departure_checker.param.yaml"/>
     <arg name="control_validator_param_path" value="$(find-pkg-share autoware_launch)/config/control/control_validator/control_validator.param.yaml"/>