Merge pull request #512 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -13,4 +13,5 @@
     a_obj_min: -1.0
     prediction_time_horizon: 1.5
     prediction_time_interval: 0.1
+    collision_keeping_sec: 0.0
     aeb_hz: 10.0

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -56,3 +56,5 @@
 
     # system
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
+
+    plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.

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

@@ -28,45 +28,55 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          enable: true
-          envelope_buffer_margin: 0.3
-          safety_buffer_lateral: 0.7
-          safety_buffer_longitudinal: 0.0
+          enable: true                                 # [-]
+          max_expand_ratio: 0.0                        # [-]
+          envelope_buffer_margin: 0.3                  # [m]
+          safety_buffer_lateral: 0.7                   # [m]
+          safety_buffer_longitudinal: 0.0              # [m]
         truck:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
+        lower_distance_for_polygon_expansion: 30.0      # [m]
+        upper_distance_for_polygon_expansion: 100.0     # [m]
 
       # For target object filtering
       target_filtering:
@@ -79,7 +89,7 @@
         object_ignore_distance_crosswalk_forward: 30.0  # [m]
         object_ignore_distance_crosswalk_backward: 30.0 # [m]
         object_check_forward_distance: 150.0            # [m]
-        object_check_backward_distance: 100.0           # [m]
+        object_check_backward_distance: 10.0            # [m]
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]

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

@@ -15,6 +15,10 @@
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
 
+      # turn signal
+      min_length_for_turn_signal_activation: 10.0 # [m]
+      length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)
+
       # longitudinal acceleration
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0

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

@@ -2,24 +2,23 @@
   ros__parameters:
     intersection:
       common:
-        detection_area_margin: 0.5 # [m]
-        detection_area_right_margin: 0.5 # [m]
-        detection_area_left_margin: 0.5 # [m]
-        detection_area_length: 200.0 # [m]
-        detection_area_angle_threshold: 0.785 # [rad]
+        attention_area_margin: 0.5 # [m]
+        attention_area_length: 200.0 # [m]
+        attention_area_angle_threshold: 0.785 # [rad]
         stop_line_margin: 3.0
         intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
         intersection_max_accel: 0.5 # m/ss
         stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
         use_intersection_area: false
+        path_interpolation_ds: 0.1 # [m]
 
       stuck_vehicle:
         use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
+        stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
         stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
         stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
-        stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
-        enable_front_car_decel_prediction: false # By default this feature is disabled
-        assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
+        # enable_front_car_decel_prediction: false # By default this feature is disabled
+        # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
 
       collision_detection:
         state_transit_margin_time: 1.0
@@ -31,7 +30,7 @@
 
       occlusion:
         enable: true
-        occlusion_detection_area_length: 70.0 # [m]
+        occlusion_attention_area_length: 70.0 # [m]
         enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
         occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
         peeking_offset: -0.5 # [m] offset for peeking into detection area

autoware_launch/rviz/autoware.rviz

@@ -358,6 +358,7 @@ Visualization Manager:
             center_lane_line: false
             center_line_arrows: false
             crosswalk_lanelets: true
+            crosswalk_areas: false
             lane_start_bound: false
             lanelet direction: true
             lanelet_id: false