chore: sync beta branch beta/v0.20.0 with tier4/main

autoware_launch/config/localization/ndt_scan_matcher.param.yaml

@@ -1,8 +1,5 @@
 /**:
   ros__parameters:
-    # Use dynamic map loading
-    use_dynamic_map_loading: true
-
     # Vehicle reference frame
     base_frame: "base_link"
 

autoware_launch/config/map/pointcloud_map_loader.param.yaml

@@ -3,7 +3,6 @@
     enable_whole_load: true
     enable_downsampled_whole_load: false
     enable_partial_load: true
-    enable_differential_load: true
     enable_selected_load: false
 
     # only used when downsample_whole_load enabled

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml

@@ -3,6 +3,8 @@
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    image_buffer_size: 15
+    debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0
     filter_scope_min_z: -100.0

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

@@ -1,18 +1,26 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 7  # x, y, z, time-lag and car, pedestrian, bicycle
-    max_voxel_size: 40000
-    point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-    voxel_size: [0.32, 0.32, 8.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 12
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    # post-process params
-    circle_nms_dist_threshold: 0.3
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    # omp params
-    omp_num_threads: 1
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
+      max_voxel_size: 40000
+      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+      voxel_size: [0.32, 0.32, 8.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 12
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      has_twist: false
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 0
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.3
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      score_threshold: 0.4
+    omp_params:
+      # omp params
+      num_threads: 1

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -13,6 +13,9 @@
     sigma_yaw_angle_deg: 5.0 #[angle degree]
     object_buffer_time_length: 2.0 #[s]
     history_time_length: 1.0 #[s]
+    check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints
+    max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths
+    min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
@@ -29,6 +32,6 @@
         diff_dist_threshold_to_left_bound: 0.29 #[m]
         diff_dist_threshold_to_right_bound: -0.29 #[m]
       num_continuous_state_transition: 3
       consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml

@@ -17,7 +17,7 @@
     publish_untracked_objects: false
 
     # debug parameters
-    publish_processing_time: false
+    publish_processing_time: true
     publish_tentative_objects: false
-    diagnostic_warn_delay: 0.5      # [sec]
-    diagnostic_error_delay: 1.0     # [sec]
+    diagnostics_warn_delay: 0.5      # [sec]
+    diagnostics_error_delay: 1.0     # [sec]

autoware_launch/config/planning/preset/default_preset.yaml

@@ -77,6 +77,9 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
 
   # motion planning modules
   - arg:

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

@@ -29,81 +29,81 @@
         car:
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
-          moving_time_threshold: 1.0                   # [s]
+          moving_time_threshold: 2.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
-          envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 1.0                    # [m]
-          safety_buffer_lateral: 0.7                   # [m]
+          envelope_buffer_margin: 0.5                  # [m]
+          avoid_margin_lateral: 0.7                    # [m]
+          safety_buffer_lateral: 0.3                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          moving_speed_threshold: 2.0                  # 7.2km/h
+          moving_time_threshold: 2.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          envelope_buffer_margin: 0.5
+          avoid_margin_lateral: 0.9
+          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
           execute_num: 1
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          moving_speed_threshold: 2.0                  # 7.2km/h
+          moving_time_threshold: 2.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          envelope_buffer_margin: 0.5
+          avoid_margin_lateral: 0.9
+          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
           execute_num: 1
-          moving_speed_threshold: 1.0                  # 3.6km/h
-          moving_time_threshold: 1.0
+          moving_speed_threshold: 2.0                  # 7.2km/h
+          moving_time_threshold: 2.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          envelope_buffer_margin: 0.5
+          avoid_margin_lateral: 0.9
+          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 0.7
+          envelope_buffer_margin: 0.1
+          avoid_margin_lateral: 0.7
+          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 1.0
+          envelope_buffer_margin: 0.5
+          avoid_margin_lateral: 0.7
+          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 1.0
+          envelope_buffer_margin: 0.5
+          avoid_margin_lateral: 0.7
+          safety_buffer_lateral: 0.3
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
-          safety_buffer_lateral: 1.0
+          envelope_buffer_margin: 0.5
+          avoid_margin_lateral: 0.7
+          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]
@@ -139,8 +139,9 @@
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         force_avoidance:
-          enable: false                                  # [-]
-          time_threshold: 1.0                            # [s]
+          enable: true                                   # [-]
+          time_threshold: 3.0                            # [s]
+          distance_threshold: 1.0                        # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]
@@ -188,7 +189,7 @@
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
         rear_vehicle_safety_time_margin: 1.0             # [s]
-        lateral_distance_max_threshold: 0.75             # [m]
+        lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
         longitudinal_velocity_delta_time: 0.8            # [s]
 
@@ -216,7 +217,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 25.0                                # [m]
+            buffer: 30.0                                # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]

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

@@ -13,7 +13,7 @@
       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
-        extra_arc_length: 2.0  # [m] extra arc length where an expansion distance is initially applied
+        arc_length_range: 2.0  # [m] arc length range where an expansion distance is initially applied
       ego:
         extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang

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

@@ -38,33 +38,40 @@
         crossing_object:
           min_overtaking_object_vel: 1.0
           max_overtaking_object_angle: 1.05
-          min_oncoming_object_vel: 0.0
+          min_oncoming_object_vel: 1.0
           max_oncoming_object_angle: 0.523
 
         front_object:
           max_object_angle: 0.785
           min_object_vel: -0.5               # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
           max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
+        stopped_object:
+          max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
+
       drivable_area_generation:
         polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 0.8 # [m]
+        lat_offset_from_obstacle: 1.0 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
 
+        max_ego_lat_acc: 0.3        # [m/ss]
+        max_ego_lat_jerk: 0.3       # [m/sss]
+        delay_time_ego_shift: 1.0   # [s]
+
         # for same directional object
         overtaking_object:
           max_time_to_collision: 40.0 # [s]
-          start_duration_to_avoid: 2.0  # [s]
-          end_duration_to_avoid: 4.0  # [s]
+          start_duration_to_avoid: 1.0  # [s]
+          end_duration_to_avoid: 1.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
           max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
-          start_duration_to_avoid: 12.0  # [s]
+          start_duration_to_avoid: 1.0  # [s]
           end_duration_to_avoid: 0.0  # [s]

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

@@ -57,37 +57,37 @@
 
         # lane expansion for object filtering
         lane_expansion:
-          left_offset: 0.0 # [m]
-          right_offset: 0.0 # [m]
+          left_offset: 1.0 # [m]
+          right_offset: 1.0 # [m]
 
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]
-        min_values: [0.15, 0.15, 0.15]
-        max_values: [0.5, 0.5, 0.5]
+        min_values: [0.4, 0.4, 0.4]
+        max_values: [0.65, 0.65, 0.65]
 
       # target object
       target_object:
         car: true
         truck: true
         bus: true
         trailer: true
-        unknown: true
+        unknown: false
         bicycle: true
         motorcycle: true
         pedestrian: true
 
       # collision check
       enable_prepare_segment_collision_check: false
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      check_objects_on_current_lanes: true
-      check_objects_on_other_lanes: true
+      check_objects_on_current_lanes: false
+      check_objects_on_other_lanes: false
       use_all_predicted_path: true
 
       # lane change regulations
       regulation:
-        crosswalk: false
-        intersection: false
+        crosswalk: true
+        intersection: true
         traffic_light: true
 
       # ego vehicle stuck detection
@@ -107,4 +107,4 @@
       finish_judge_lateral_threshold: 0.2        # [m]
 
       # debug
-      publish_debug_marker: false
+      publish_debug_marker: true

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

@@ -5,8 +5,9 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
-      collision_check_margin: 1.0
+      collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_distance_from_end: 1.0
+      collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
@@ -31,7 +32,7 @@
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
-      max_back_distance: 30.0
+      max_back_distance: 20.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0

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

@@ -2,6 +2,7 @@
   ros__parameters:
     forward_path_length: 1000.0
     backward_path_length: 5.0
+    behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
     max_accel: -2.8
     max_jerk: -5.0

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

@@ -53,8 +53,8 @@
         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_stop_for_yield_cancel: false # for the crosswalks with traffic signal
-        disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
+        disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
+        disable_yield_for_new_stopped_object: true # 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_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]