Merge pull request autowarefoundation#365 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -3,7 +3,9 @@
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: true
+    check_external_emergency_heartbeat: false
     use_start_request: true
+    enable_cmd_limit_filter: true
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
@@ -12,15 +14,17 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      lon_acc_lim: 5.0
-      lon_jerk_lim: 5.0
-      lat_acc_lim: 5.0
-      lat_jerk_lim: 5.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      lon_acc_lim: [5.0, 4.0]
+      lon_jerk_lim: [5.0, 4.0]
+      lat_acc_lim: [5.0, 4.0]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]
     on_transition:
       vel_lim: 50.0
-      lon_acc_lim: 1.0
-      lon_jerk_lim: 0.5
-      lat_acc_lim: 2.0
-      lat_jerk_lim: 7.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     show_debug_info: false
-    enable_yaw_bias_estimation: True
+    enable_yaw_bias_estimation: true
     predict_frequency: 50.0
     tf_rate: 50.0
     extend_state_step: 50

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

@@ -1,17 +1,21 @@
 /**:
   ros__parameters:
     enable_delay_compensation: true
-    prediction_time_horizon: 7.8 #[s]
+    prediction_time_horizon: 10.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
     min_crosswalk_user_velocity: 1.39 #[m/s]
+    max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s]
     dist_threshold_for_searching_lanelet: 3.0 #[m]
     delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
     sigma_lateral_offset: 0.5 #[m]
     sigma_yaw_angle_deg: 5.0 #[angle degree]
     object_buffer_time_length: 2.0 #[s]
     history_time_length: 1.0 #[s]
+    # parameter for shoulder lane prediction
+    prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
+    # parameters for lc prediction
     lane_change_detection:
       method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
       time_to_change_lane:

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

@@ -30,9 +30,9 @@
           36.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRUCK
           60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #BUS
           60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRAILER
-           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
-           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
-           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.50,   #MOTORBIKE
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.50,   #BICYCLE
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.00,      2.00,     1.50]   #PEDESTRIAN
     min_area_matrix:
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
       [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN

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

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
-    jerk_weight: 0.1         # weight for "smoothness" cost for jerk
-    over_v_weight: 10000.0   # weight for "over speed limit" cost
-    over_a_weight: 500.0     # weight for "over accel limit" cost
-    over_j_weight: 200.0     # weight for "over jerk limit" cost
+    jerk_weight: 10.0        # weight for "smoothness" cost for jerk
+    over_v_weight: 100000.0  # weight for "over speed limit" cost
+    over_a_weight: 5000.0    # weight for "over accel limit" cost
+    over_j_weight: 2000.0    # weight for "over jerk limit" cost
     jerk_filter_ds: 0.1      # resampling ds for jerk filter

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

@@ -4,8 +4,6 @@
     avoidance:
       resample_interval_for_planning: 0.3               # [m]
       resample_interval_for_output: 4.0                 # [m]
-      detection_area_right_expand_dist: 0.0             # [m]
-      detection_area_left_expand_dist: 1.0              # [m]
       drivable_area_right_bound_offset: 0.0             # [m]
       drivable_area_left_bound_offset: 0.0              # [m]
 
@@ -142,10 +140,19 @@
         # collision check parameters
         check_all_predicted_path: false                  # [-]
         time_resolution: 0.5                             # [s]
-        time_horizon: 10.0                               # [s]
+        time_horizon_for_front_object: 3.0               # [s]
+        time_horizon_for_rear_object: 10.0               # [s]
         safety_check_backward_distance: 100.0            # [m]
-        safety_check_hysteresis_factor: 2.0              # [-]
-        safety_check_ego_offset: 1.0                     # [m]
+        hysteresis_factor_expand_rate: 1.5               # [-]
+        hysteresis_factor_safe_count: 10                 # [-]
+        # rss parameters
+        expected_front_deceleration: -1.0                # [m/ss]
+        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]
+        longitudinal_distance_min_threshold: 3.0         # [m]
+        longitudinal_velocity_delta_time: 0.8            # [s]
 
       # For avoidance maneuver
       avoidance:

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

@@ -29,19 +29,6 @@
 
     visualize_maximum_drivable_area: true
 
-    lateral_distance_max_threshold: 1.7
-    longitudinal_distance_min_threshold: 3.0
-    longitudinal_velocity_delta_time: 0.8
-
-    expected_front_deceleration: -1.0
-    expected_rear_deceleration: -1.0
-
-    expected_front_deceleration_for_abort: -1.0
-    expected_rear_deceleration_for_abort: -2.0
-
-    rear_vehicle_reaction_time: 2.0
-    rear_vehicle_safety_time_margin: 1.0
-
     lane_following:
       drivable_area_right_bound_offset: 0.0
       drivable_area_left_bound_offset: 0.0

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

@@ -2,7 +2,7 @@
   ros__parameters:
     dynamic_avoidance:
       common:
-        enable_debug_info: true
+        enable_debug_info: false
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -42,7 +42,9 @@
           max_object_angle: 0.785
 
       drivable_area_generation:
-        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
+        polygon_generation_method: "object_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]
         max_lat_offset_to_avoid: 0.5 # [m]

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

@@ -31,7 +31,8 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        object_recognition_collision_check_margin: 1.0
+        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
 
       # pull over
       pull_over:

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

@@ -26,6 +26,18 @@
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0
 
+      # safety check
+      safety_check:
+        expected_front_deceleration: -1.0
+        expected_rear_deceleration: -1.0
+        expected_front_deceleration_for_abort: -1.0
+        expected_rear_deceleration_for_abort: -2.0
+        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
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]

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

@@ -36,3 +36,39 @@
       th_turn_signal_on_lateral_offset: 1.0
       intersection_search_length: 30.0
       length_ratio_for_turn_signal_deactivation_near_intersection: 0.5
+      # freespace planner
+      freespace_planner:
+        enable_freespace_planner: true
+        end_pose_search_start_distance: 20.0
+        end_pose_search_end_distance: 30.0
+        end_pose_search_interval: 2.0
+        freespace_planner_algorithm: "astar"  # options: astar, rrtstar
+        velocity: 1.0
+        vehicle_shape_margin: 1.0
+        time_limit: 3000.0
+        minimum_turning_radius: 5.0
+        maximum_turning_radius: 5.0
+        turning_radius_size: 1
+        # search configs
+        search_configs:
+          theta_size: 144
+          angle_goal_range: 6.0
+          curve_weight: 1.2
+          reverse_weight: 1.0
+          lateral_goal_range: 0.5
+          longitudinal_goal_range: 2.0
+        # costmap configs
+        costmap_configs:
+          obstacle_threshold: 30
+        # -- A* search Configurations --
+        astar:
+          only_behind_solutions: false
+          use_back: false
+          distance_heuristic_weight: 1.0
+        # -- RRT* search Configurations --
+        rrtstar:
+          enable_update: true
+          use_informed_sampling: true
+          max_planning_time: 150.0
+          neighbor_radius: 8.0
+          margin: 1.0

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

@@ -54,4 +54,5 @@
         intersection_to_occlusion: true
 
     merge_from_private:
+      stop_line_margin: 3.0
       stop_duration_sec: 1.0

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

@@ -14,10 +14,13 @@
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
       safe_distance_margin : 6.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
+      hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
+      hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
+      suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type:
         unknown: true

autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml

@@ -37,3 +37,11 @@
       only_behind_solutions: false
       use_back: true
       distance_heuristic_weight: 1.0
+
+    # -- RRT* search Configurations --
+    rrtstar:
+      enable_update: true
+      use_informed_sampling: true
+      max_planning_time: 150.0
+      neighbor_radius: 8.0
+      margin: 0.1

autoware_launch/launch/autoware.launch.xml

@@ -36,6 +36,7 @@
   <!-- Tools -->
   <arg name="rviz" default="false" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
@@ -120,6 +121,14 @@
 
   <!-- Tools -->
   <group>
-    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)"/>
+    <node
+      pkg="rviz2"
+      exec="rviz2"
+      name="rviz2"
+      output="screen"
+      args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+      if="$(var rviz)"
+      respawn="$(var rviz_respawn)"
+    />
   </group>
 </launch>

autoware_launch/launch/planning_simulator.launch.xml

@@ -12,16 +12,18 @@
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <!-- Tools -->
-  <arg name="rviz" default="true" description="launch rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
   <arg name="perception/enable_object_recognition" default="true" description="enable object recognition when using dummy perception"/>
   <arg name="perception/use_base_link_z" default="true" description="dummy perception uses base_link z axis coordinate if it is true"/>
   <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
+  <!-- Tools -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
+  <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
   <!-- Vcu emulation -->
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
 
@@ -53,6 +55,7 @@
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
+      <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- V2X -->
       <arg name="launch_v2x" value="false"/>
     </include>