chore: sync beta branch beta/v0.21.0 with tier4/main

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -4,6 +4,7 @@
     enable_yaw_bias_estimation: true
     predict_frequency: 50.0
     tf_rate: 50.0
+    publish_tf: true
     extend_state_step: 50
 
     # for Pose measurement
@@ -22,6 +23,10 @@
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
 
+    #Simple1DFilter parameters
+    z_filter_proc_dev: 1.0
+    roll_filter_proc_dev: 0.01
+    pitch_filter_proc_dev: 0.01
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
     pose_no_update_count_threshold_error: 100

autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

@@ -1,11 +1,10 @@
 /**:
   ros__parameters:
-    tracker_ignore_label:
-      UNKNOWN : true
-      CAR : false
-      TRUCK : false
-      BUS : false
-      TRAILER : false
-      MOTORCYCLE : false
-      BICYCLE : false
-      PEDESTRIAN : false
+    tracker_ignore_label.UNKNOWN : true
+    tracker_ignore_label.CAR : false
+    tracker_ignore_label.TRUCK : false
+    tracker_ignore_label.BUS : false
+    tracker_ignore_label.TRAILER : false
+    tracker_ignore_label.MOTORCYCLE : false
+    tracker_ignore_label.BICYCLE : false
+    tracker_ignore_label.PEDESTRIAN : false

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

@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    fusion_distance: 100.0
+    trust_object_distance: 100.0
+    trust_object_iou_mode: "iou"
+    non_trust_object_iou_mode: "iou_x"
+    use_cluster_semantic_type: false
+    only_allow_inside_cluster: true
+    roi_scale_factor: 1.1
+    iou_threshold: 0.65
+    unknown_iou_threshold: 0.1
+    remove_unknown: false

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

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    # UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+    passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50]
+    trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
+    min_iou_threshold: 0.5
+    use_roi_probability: false
+    roi_probability_threshold: 0.5
+
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
+      [1,       0,   0,     0,   0,       0,         0,       0,         # UNKNOWN <-detected_objects
+       0,       1,   1,     1,   1,       0,         0,       0,         # CAR
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRUCK
+       0,       1,   1,     1,   1,       0,         0,       0,         # BUS
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRAILER
+       0,       0,   0,     0,   0,       1,         1,       1,         # MOTORBIKE
+       0,       0,   0,     0,   0,       1,         1,       1,         # BICYCLE
+       0,       0,   0,     0,   0,       1,         1,       1]         # PEDESTRIAN

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

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    fuse_unknown_only: true
+    min_cluster_size: 2
+    cluster_2d_tolerance: 0.5

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

@@ -16,6 +16,9 @@
     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
+    use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
+    speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
+    acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
@@ -32,6 +35,6 @@
         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/planning/preset/default_preset.yaml

@@ -112,7 +112,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "true"
+      default: "false"
 
   # parking modules
   - arg:

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

@@ -122,7 +122,8 @@
           motorcycle: true                               # [-]
           pedestrian: true                               # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 20.0                 # [m]
+        object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
         object_check_shiftable_ratio: 0.6               # [-]

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

@@ -38,6 +38,7 @@
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
+        detection_bound_offset: 15.0
 
       # pull over
       pull_over:

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

@@ -53,7 +53,7 @@
 
     goal_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1
@@ -67,7 +67,7 @@
       priority: 4
       max_module_size: 1
 
-    avoidance_by_lc:
+    avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

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

@@ -13,7 +13,7 @@
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
-      check_shift_path_lane_departure: false
+      check_shift_path_lane_departure: true
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5

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: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object: 3.0 # [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:
@@ -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: [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_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_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: [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)
@@ -50,19 +50,19 @@
           min_jerk: -1.0 # min jerk [m/sss]
           max_jerk: 1.0 # max jerk [m/sss]
 
-        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)
+        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)
         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: 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]
-        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.
+        timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]
+        timeout_ego_stop_for_yield: 1.0 # [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: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        crosswalk_attention_range: 2.0 # [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

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

@@ -12,6 +12,7 @@
         max_accel: -2.8
         max_jerk: -5.0
         delay_response_time: 0.5
+        enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
         turn_direction:
@@ -36,7 +37,6 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
-        keep_detection_velocity_threshold: 0.833
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
@@ -67,7 +67,7 @@
         occupied_min: 58
         denoise_kernel: 1.0
         attention_lane_crop_curvature_threshold: 0.25
-        attention_lane_curvature_calculation_ds: 0.5
+        attention_lane_curvature_calculation_ds: 0.6
         creep_during_peeking:
           enable: false
           creep_velocity: 0.8333

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

@@ -3,7 +3,7 @@
     run_out:
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
-      suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
+      suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
       specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
@@ -12,15 +12,7 @@
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
 
-      detection_area:
-        margin_behind: 0.5 # [m] ahead margin for detection area length
-        margin_ahead: 1.0  # [m] behind margin for detection area length
-
-      # This area uses points not filtered by vector map to ensure safety
-      mandatory_area:
-        decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area
-
-      # parameter to create abstracted dynamic obstacles
+      # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:
         use_mandatory_area: false # [-] whether to use mandatory detection area
         assume_fixed_velocity:
@@ -34,26 +26,42 @@
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
-      # approach if ego has stopped in the front of the obstacle for a certain amount of time
-      approaching:
-        enable: false
-        margin: 0.0           # [m] distance on how close ego approaches the obstacle
-        limit_vel_kmph: 3.0   # [km/h] limit velocity for approaching after stopping
-
-      # parameters for the change of state. used only when approaching is enabled
-      state:
-        stop_thresh: 0.01           # [m/s] threshold to decide if ego is stopping
-        stop_time_thresh: 3.0       # [sec] threshold for stopping time to transit to approaching state
-        disable_approach_dist: 3.0  # [m] end the approaching state if distance to the obstacle is longer than this value
-        keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
-
-      # parameter to avoid sudden stopping
+      # Parameter to prevent sudden stopping.
+      # If the deceleration jerk and acceleration exceed this value upon inserting a stop point,
+      # the deceleration will be moderated to stay under this value.
       slow_down_limit:
         enable: false
         max_jerk: -0.7  # [m/s^3] minimum jerk deceleration for safe brake.
         max_acc : -2.0  # [m/s^2] minimum accel deceleration for safe brake.
 
-      # prevent abrupt stops caused by false positives in perception
+      # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
         time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
+
+      # Typically used when the "detection_method" is set to ObjectWithoutPath or Points
+      # Approach if the ego has stopped in front of the obstacle for a certain period
+      # This avoids the issue of the ego continuously stopping in front of the obstacle
+      approaching:
+        enable: false
+        margin: 0.0           # [m] distance on how close ego approaches the obstacle
+        limit_vel_kmph: 3.0   # [km/h] limit velocity for approaching after stopping
+      # Parameters for state change when "approaching" is enabled
+        state:
+          stop_thresh: 0.01           # [m/s] threshold to decide if ego is stopping
+          stop_time_thresh: 3.0       # [sec] threshold for stopping time to transit to approaching state
+          disable_approach_dist: 3.0  # [m] end the approaching state if distance to the obstacle is longer than this value
+          keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
+
+      # Only used when "detection_method" is set to Points
+      # Filters points by the detection area polygon to reduce computational cost
+      # The detection area is calculated based on the current velocity and acceleration and deceleration jerk constraints
+      detection_area:
+        margin_behind: 0.5 # [m] ahead margin for detection area length
+        margin_ahead: 1.0  # [m] behind margin for detection area length
+
+      # Only used when "detection_method" is set to Points
+      # Points in this area are detected even if it is in the no obstacle segmentation area
+      # The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints
+      mandatory_area:
+        decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area

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

@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     walkway:
-      stop_duration: 1.0 # [s] stop time at stop position
+      stop_duration: 0.1 # [s] stop time at stop position
       stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -31,7 +31,7 @@
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
-      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
+      max_delta_time_sec: 0.0                  # threshold of delta time for replan [second]
 
     # mpt param
     mpt:
@@ -40,7 +40,7 @@
         steer_limit_constraint: false
         visualize_sampling_num: 1
         enable_manual_warm_start: false
-        enable_warm_start: true
+        enable_warm_start: false
         enable_optimization_validation: false
 
       common:
@@ -62,7 +62,7 @@
       # weight parameter for optimization
       weight:
         # collision free
-        soft_collision_free_weight: 1000.0        # soft weight for lateral error around the middle point
+        soft_collision_free_weight: 1.0        # soft weight for lateral error around the middle point
 
         # tracking error
         lat_error_weight: 1.0       # weight for lateral error

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -85,15 +85,15 @@
         obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
 
       stop:
-        max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width
         crossing_obstacle:
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
       cruise:
         max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
         outside_obstacle:
-          obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
-          ego_obstacle_overlap_time_threshold : 1.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
+          obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
+          ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
       slow_down:
@@ -187,7 +187,7 @@
         static:
           min_lat_margin: 0.2
           max_lat_margin: 1.0
-          min_ego_velocity: 2.0
+          min_ego_velocity: 4.0
           max_ego_velocity: 8.0
 
       moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml

@@ -44,4 +44,4 @@
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
-      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
+      max_delta_time_sec: 0.0                  # threshold of delta time for replan [second]