Merge pull request autowarefoundation#561 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml

@@ -0,0 +1,44 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+       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
+
+    max_dist_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [4.0,     4.0, 5.0,   5.0,  5.0,     2.0,       2.0,     2.0,       #UNKNOWN
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       5.0,     5.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       5.0,     5.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       5.0,     5.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     3.0,       #MOTORBIKE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     3.0,       #BICYCLE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
+    max_rad_matrix: # If value is greater than pi, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+      [3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #UNKNOWN
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #CAR
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRUCK
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #BUS
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRAILER
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #MOTORBIKE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #BICYCLE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
+
+    min_iou_matrix: # If value is negative, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
+       0.1,     0.3,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
+       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
+       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
+       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
+       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
+       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1]       #PEDESTRIAN

autoware_launch/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    distance_threshold_list:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [9.0,     9.0, 9.0,   9.0,  9.0,     9.0,       9.0,    9.0]         #UNKNOWN

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

@@ -140,26 +140,24 @@
         lateral:
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.501          # [m]
+          lateral_avoid_check_threshold: 0.1            # [m]
           road_shoulder_safety_margin: 0.5              # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
           min_prepare_distance: 1.0                     # [m]
-          min_avoidance_distance: 10.0                  # [m]
-          min_nominal_avoidance_speed: 7.0              # [m/s]
-          min_sharp_avoidance_speed: 2.78               # [m/s]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]
+          nominal_avoidance_speed: 8.33                 # [m/s]
 
       # For yield maneuver
       yield:
         yield_velocity: 2.78                            # [m/s]
 
       # For stop maneuver
       stop:
-        min_distance: 10.0                              # [m]
         max_distance: 20.0                              # [m]
         stop_buffer: 1.0                                # [m]
 
@@ -169,9 +167,10 @@
 
         # lateral constraints
         lateral:
-          nominal_lateral_jerk: 0.2                     # [m/sss]
-          max_lateral_jerk: 1.0                         # [m/sss]
-          max_lateral_acceleration: 0.5                 # [m/ss]
+          velocity: [1.0, 1.38, 11.1]                   # [m/s]
+          max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
+          min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
+          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:

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

@@ -8,3 +8,4 @@
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
+      enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

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

@@ -5,6 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
+        enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
 
       # param for stop position
       stop_position:

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

@@ -8,3 +8,4 @@
       state_clear_time: 2.0
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
+      enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

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

@@ -48,5 +48,9 @@
         denoise_kernel: 1.0 # [m]
         pub_debug_grid: false
 
+      enable_rtc:
+        intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+        intersection_to_occlusion: true
+
     merge_from_private:
       stop_duration_sec: 1.0

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

@@ -8,3 +8,4 @@
       stop_line_margin: 1.0           # [m] margin to auto-gen stop line at no stopping area
       detection_area_length: 200.0    # [m] used to create detection area polygon
       stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval

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

@@ -5,3 +5,4 @@
       tl_state_timeout: 1.0
       yellow_lamp_period: 2.75
       enable_pass_judge: true
+      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -55,6 +55,14 @@
       name="object_recognition_prediction_map_based_prediction_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_object_merger_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_merger_distance_threshold_list_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"