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 d5c6356c38..f7548536be 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 @@ -7,7 +7,8 @@ use_predicted_object_data: false use_object_velocity_calculation: true check_autoware_state: true - min_generated_path_length: 0.5 + min_generated_imu_path_length: 0.5 + max_generated_imu_path_length: 10.0 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 mpc_prediction_time_horizon: 4.5 @@ -27,6 +28,7 @@ # Point cloud cropping expand_width: 0.1 path_footprint_extra_margin: 4.0 + speed_calculation_expansion_margin: 0.5 # Point cloud clustering cluster_tolerance: 0.15 #[m] diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index 90ec78257e..80e0b4aac1 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -6,6 +6,8 @@ gnss_pose_timeout: 3.0 # [sec] stop_check_duration: 3.0 # [sec] + pose_error_threshold: 5.0 # [m] + pose_error_check_enabled: false ekf_enabled: $(var ekf_enabled) gnss_enabled: $(var gnss_enabled) yabloc_enabled: $(var yabloc_enabled) diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f007..15f03fb959 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -15,3 +15,4 @@ min_y: -200.0 max_z: 2.0 min_z: -10.0 + negative: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml index 384ef7bd28..f6974e38a2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml @@ -7,7 +7,6 @@ # avoidance is performed for the object type with true target_object: car: - execute_num: 2 # [-] th_moving_speed: 1.0 # [m/s] th_moving_time: 1.0 # [s] max_expand_ratio: 0.0 # [-] @@ -17,7 +16,6 @@ hard_margin: 0.0 # [m] hard_margin_for_parked_vehicle: 0.0 # [m] truck: - execute_num: 2 th_moving_speed: 1.0 # 3.6km/h th_moving_time: 1.0 max_expand_ratio: 0.0 @@ -27,7 +25,6 @@ hard_margin: 0.0 # [m] hard_margin_for_parked_vehicle: 0.0 # [m] bus: - execute_num: 2 th_moving_speed: 1.0 # 3.6km/h th_moving_time: 1.0 max_expand_ratio: 0.0 @@ -37,7 +34,6 @@ hard_margin: 0.0 # [m] hard_margin_for_parked_vehicle: 0.0 # [m] trailer: - execute_num: 2 th_moving_speed: 1.0 # 3.6km/h th_moving_time: 1.0 max_expand_ratio: 0.0 @@ -47,7 +43,6 @@ hard_margin: 0.0 # [m] hard_margin_for_parked_vehicle: 0.0 # [m] unknown: - execute_num: 1 th_moving_speed: 0.28 # 1.0km/h th_moving_time: 1.0 max_expand_ratio: 0.0 @@ -57,7 +52,6 @@ hard_margin: 0.0 # [m] hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: - execute_num: 2 th_moving_speed: 0.28 # 1.0km/h th_moving_time: 1.0 max_expand_ratio: 0.0 @@ -67,7 +61,6 @@ hard_margin: 1.0 # [m] hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: - execute_num: 2 th_moving_speed: 1.0 # 3.6km/h th_moving_time: 1.0 max_expand_ratio: 0.0 @@ -77,7 +70,6 @@ hard_margin: 1.0 # [m] hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: - execute_num: 2 th_moving_speed: 0.28 # 1.0km/h th_moving_time: 1.0 max_expand_ratio: 0.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 0cea2aa62b..eaa2058819 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -34,6 +34,7 @@ # safety check safety_check: allow_loose_check_for_cancel: true + enable_target_lane_bound_check: true collision_check_yaw_diff_threshold: 3.1416 execution: expected_front_deceleration: -1.0 diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c50f13e67f..e4eb0b6e16 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -520,39 +520,26 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: false + Value: true - Buffer Size: 200 - Class: rviz_plugins::PoseWithCovarianceHistory - Covariance: - Alpha: 0.5 - Color: 204; 51; 204 - Scale: 1 - Value: true + Class: rviz_plugins::PoseHistory Enabled: false - Name: PoseWithCovarianceHistory - Path: - Shape Type: - Alpha: 0.999 - Color: 170; 255; 127 - Head Length: 0.20000 - Head diameter: 0.30000 - Shaft Length: 0.30000 - Shaft diameter: 0.15000 - Value: Line - Width: 0.10000 + Line: + Color: 170; 255; 127 Value: true + Width: 0.10000000149011612 + Alpha: 0.999 + Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /localization/pose_estimator/pose_with_covariance - Value: false + Value: /localization/pose_estimator/pose + Value: true - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -635,32 +622,20 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Buffer Size: 1000 - Class: rviz_plugins::PoseWithCovarianceHistory - Covariance: - Alpha: 0.5 - Color: 153; 193; 241 - Scale: 1 - Value: false + Class: rviz_plugins::PoseHistory Enabled: true - Name: PoseWithCovarianceHistory - Path: - Shape Type: - Alpha: 0.999 - Color: 0; 255; 255 - Head Length: 0.20000 - Head diameter: 0.300000 - Shaft Length: 0.30000 - Shaft diameter: 0.15000 - Value: Line - Width: 0.10000 + Line: + Color: 0; 255; 255 Value: true + Width: 0.10000000149011612 + Alpha: 0.999 + Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /localization/pose_with_covariance + Value: /localization/pose_twist_fusion_filter/pose Value: true Enabled: true Name: EKF