Merge branch 'beta/v3.1.0' into feat/disable-avoidance_for_ambiguous_…

…vehicle

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

@@ -49,12 +49,12 @@
           longitudinal_velocity_delta_time: 0.3
         stuck:
           expected_front_deceleration: -1.0
-          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: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          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
 
         # lane expansion for object filtering
         lane_expansion:

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

@@ -16,7 +16,7 @@
         # 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: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -30,39 +30,39 @@
         enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
         stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
         max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
-        required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle
-        min_acc: -2.8 # min acceleration [m/ss]
-        min_jerk: -5.0 # min jerk [m/sss]
-        max_jerk: 5.0 # max jerk [m/sss]
+        required_clearance: 10.0 # [m] clearance to be secured between the ego and the ahead vehicle
+        min_acc: -1.0 # min acceleration [m/ss]
+        min_jerk: -1.0 # min jerk [m/sss]
+        max_jerk: 1.0 # max jerk [m/sss]
 
       # 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: [6.0] # [[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)
+        ego_pass_later_margin_y: [10.0] # [[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)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point
 
         no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
-          min_acc: -2.8 # min acceleration [m/ss]
-          min_jerk: -5.0 # min jerk [m/sss]
-          max_jerk: 5.0 # max jerk [m/sss]
+          min_acc: -1.0 # min acceleration [m/ss]
+          min_jerk: -1.0 # min jerk [m/sss]
+          max_jerk: 1.0 # max jerk [m/sss]
 
-        stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph)
+        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_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
+        disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
         # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
         distance_set_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_set_for_no_intention_to_walk: [3.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # param for target object filtering
       object_filtering:
-        crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
         vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
         target_object:
           unknown: true # [-] whether to look and stop by UNKNOWN objects
@@ -72,7 +72,7 @@
 
       # param for occlusions
       occlusion:
-        enable: true  # if true, ego will slowdown around crosswalks that are occluded
+        enable: false  # if true, ego will slowdown around crosswalks that are occluded
         occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown