diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 850bf04df9..3e2397e427 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -5,20 +5,20 @@ autoware_launch/** mfc@leodrive.ai ryohsuke.mitsudome@tier4.jp yukihiro.saito@ti
# /**
# .github/**
autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai
-autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
-autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
-autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp mamoru.sobue@tier4.jp
autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp
-autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
-autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp zulfaqar.azmi@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp alqudah.mohammad@tier4.jp maxime.clement@tier4.jp mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp
autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 49ed6ee171..0d86229b1d 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -2,14 +2,14 @@
ros__parameters:
# Ego path calculation
use_predicted_trajectory: true
- use_imu_path: false
+ use_imu_path: true
use_pointcloud_data: true
use_predicted_object_data: false
use_object_velocity_calculation: true
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_horizon: 4.5
mpc_prediction_time_interval: 0.1
# Debug
@@ -29,7 +29,7 @@
# Point cloud clustering
cluster_tolerance: 0.15 #[m]
- cluster_minimum_height: 0.0
+ cluster_minimum_height: 0.1
minimum_cluster_size: 10
maximum_cluster_size: 10000
diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
index ffd259e5e5..945a37ca58 100644
--- a/autoware_launch/config/control/control_validator/control_validator.param.yaml
+++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -1,6 +1,5 @@
/**:
ros__parameters:
-
# If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
# (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
# the next predicted_path is valid.)
@@ -10,3 +9,5 @@
thresholds:
max_distance_deviation: 1.0
+ max_reverse_velocity: 0.2
+ max_over_velocity_ratio: 0.1
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index 5f023e1685..97a1d64ed8 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -53,12 +53,11 @@
# stopped state
stopped_vel: 0.0
- stopped_acc: -3.4
- stopped_jerk: -5.0
+ stopped_acc: -3.4 # denotes pedal position
# emergency state
emergency_vel: 0.0
- emergency_acc: -5.0
+ emergency_acc: -5.0 # denotes acceleration
emergency_jerk: -3.0
# acceleration limit
@@ -68,6 +67,7 @@
# jerk limit
max_jerk: 2.0
min_jerk: -5.0
+ max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]
# slope compensation
lpf_pitch_gain: 0.95
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
index 54c87f45b6..dd99e6d160 100644
--- 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
@@ -2,7 +2,7 @@
ros__parameters:
update_rate: 10.0
system_emergency_heartbeat_timeout: 0.5
- use_emergency_handling: false
+ use_emergency_handling: true
check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
use_start_request: false
enable_cmd_limit_filter: true
@@ -16,14 +16,14 @@
stop_check_duration: 1.0
nominal:
vel_lim: 25.0
- reference_speed_points: [20.0, 30.0]
- steer_lim: [1.0, 0.8]
- steer_rate_lim: [1.0, 0.8]
- lon_acc_lim: [5.0, 4.0]
- lon_jerk_lim: [5.0, 4.0]
- lat_acc_lim: [5.0, 4.0]
- lat_jerk_lim: [7.0, 6.0]
- actual_steer_diff_lim: [1.0, 0.8]
+ reference_speed_points: [0.1, 0.3, 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: [5.0, 5.0, 5.0, 4.0]
+ lon_jerk_lim: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting.
+ 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]
on_transition:
vel_lim: 50.0
reference_speed_points: [20.0, 30.0]
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
index 616cb108ba..5d6b8d7344 100644
--- 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
@@ -117,7 +117,10 @@
initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
# In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance
- temperature: 0.1
+ temperature: 0.05
+
+ # Scale value for adjusting the estimated covariance by a constant multiplication
+ scale_factor: 1.0
dynamic_map_loading:
diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
index cf4f73dc79..d23e2e9676 100644
--- a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
@@ -7,7 +7,7 @@
activate_by_scenario: False
grid_min_value: 0.0
grid_max_value: 1.0
- grid_resolution: 0.2
+ grid_resolution: 0.3
grid_length_x: 70.0
grid_length_y: 70.0
grid_position_x: 0.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
index c1f4646ef7..32d0caffd8 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
@@ -58,7 +58,7 @@
lat_offset_from_obstacle: 1.0 # [m]
margin_distance_around_pedestrian: 2.0 # [m]
predicted_path:
- end_time_to_consider: 3.0 # [s]
+ end_time_to_consider: 2.0 # [s]
threshold_confidence: 0.0 # [] not probability
max_lat_offset_to_avoid: 0.5 # [m]
max_time_for_object_lat_shift: 0.0 # [s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index 4776884734..ef113f6ff2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -243,6 +243,8 @@
# For cancel maneuver
cancel:
enable: true # [-]
+ force:
+ duration_time: 2.0 # [s]
# For yield maneuver
yield:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index f3393ff5a4..2e4984afe7 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -10,6 +10,7 @@
enabled: true
print_runtime: false
max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+ min_bound_interval: 1.0 # [m] minimum interval between two consecutive bound points (before expansion)
smoothing:
curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average
max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index 67708f3386..5cee76de9b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -91,25 +91,30 @@
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
- minimum_turning_radius: 5.0
- maximum_turning_radius: 5.0
- turning_radius_size: 1
+ max_turning_ratio: 0.5
+ turning_steps: 1
# search configs
search_configs:
- theta_size: 144
+ theta_size: 120
angle_goal_range: 6.0
- curve_weight: 1.2
- reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
+ curve_weight: 0.5
+ reverse_weight: 1.0
+ direction_change_weight: 1.5
# costmap configs
costmap_configs:
obstacle_threshold: 30
# -- A* search Configurations --
astar:
+ search_method: "forward" # options: forward, backward
only_behind_solutions: false
- use_back: false
- distance_heuristic_weight: 1.0
+ use_back: true
+ adapt_expansion_distance: true
+ expansion_distance: 0.5
+ distance_heuristic_weight: 2.0
+ smoothness_weight: 0.5
+ obstacle_distance_weight: 1.75
# -- RRT* search Configurations --
rrtstar:
enable_update: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 13c43cd4d4..8cfae9e9ad 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -32,6 +32,7 @@
minimum_lateral_acc: 0.15
maximum_lateral_acc: 0.5
maximum_curvature: 0.07
+ end_pose_curvature_threshold: 0.1
# geometric pull out
enable_geometric_pull_out: true
geometric_collision_check_distance_from_end: 0.0
@@ -61,25 +62,30 @@
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
- minimum_turning_radius: 5.0
- maximum_turning_radius: 5.0
- turning_radius_size: 1
+ max_turning_ratio: 0.7
+ turning_steps: 1
# search configs
search_configs:
- theta_size: 144
+ theta_size: 120
angle_goal_range: 6.0
- curve_weight: 1.2
- reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
+ curve_weight: 0.5
+ reverse_weight: 1.0
+ direction_change_weight: 1.5
# costmap configs
costmap_configs:
obstacle_threshold: 30
# -- A* search Configurations --
astar:
+ search_method: "forward" # options: forward, backward
only_behind_solutions: false
- use_back: false
- distance_heuristic_weight: 1.0
+ use_back: true
+ adapt_expansion_distance: true
+ expansion_distance: 0.5
+ distance_heuristic_weight: 2.0
+ smoothness_weight: 0.5
+ obstacle_distance_weight: 1.75
# -- RRT* search Configurations --
rrtstar:
enable_update: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index f7cf23e015..ca1d211d1d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -38,7 +38,7 @@
# params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
pass_judge:
ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
- ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+ ego_pass_first_margin_y: [4.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
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)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
index b13df72409..97cf050f18 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
@@ -20,6 +20,7 @@
predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
+ ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored
overlap:
minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered
@@ -28,7 +29,8 @@
action: # action to insert in the path if an object causes a conflict at an overlap
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
precision: 0.1 # [m] precision when inserting a stop pose in the path
- distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
+ longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle
+ lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle
min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
slowdown:
distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index ffd99df533..a3e65a89f0 100644
--- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -16,27 +16,29 @@
# base configs
time_limit: 30000.0
# robot configs # TODO replace by vehicle_info
- robot_length: 4.5
- robot_width: 1.75
- robot_base2back: 1.0
- minimum_turning_radius: 9.0
- maximum_turning_radius: 9.0
- turning_radius_size: 1
+ max_turning_ratio: 0.5 # ratio of actual turning limit of vehicle
+ turning_steps: 1
# search configs
- theta_size: 144
+ theta_size: 120
angle_goal_range: 6.0
- curve_weight: 1.2
- reverse_weight: 2.0
lateral_goal_range: 0.5
- longitudinal_goal_range: 2.0
+ longitudinal_goal_range: 1.0
+ curve_weight: 0.5
+ reverse_weight: 0.7
+ direction_change_weight: 2.0
# costmap configs
obstacle_threshold: 100
# -- A* search Configurations --
astar:
+ search_method: "forward" # options: forward, backward
only_behind_solutions: false
use_back: true
- distance_heuristic_weight: 1.0
+ adapt_expansion_distance: true
+ expansion_distance: 0.5
+ distance_heuristic_weight: 2.0
+ smoothness_weight: 0.5
+ obstacle_distance_weight: 1.75
# -- RRT* search Configurations --
rrtstar:
diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
index 1ee2699a23..4d576457f2 100644
--- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
+++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -1,5 +1,5 @@
/**:
ros__parameters:
update_rate: 30
- target_acceleration: -2.5
- target_jerk: -1.5
+ target_acceleration: -3.0
+ target_jerk: -3.0
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index a0eb99c7a7..817d5d9d97 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -12,6 +12,7 @@
+
@@ -27,6 +28,7 @@
+
-
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index d038e7096b..eb9373678e 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -97,6 +97,7 @@
+