Merge pull request #351 from tier4/sync-awf-latest

chore: sync awf-latest

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -10,6 +10,8 @@
       intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
       intersection_max_accel: 0.5 # m/ss
       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]
       min_predicted_path_confidence: 0.05
       collision_start_margin_time: 5.0 # [s]

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml

@@ -3,9 +3,8 @@
     occlusion_spot:
       detection_method: "occupancy_grid"    # [-] candidate is "occupancy_grid" or "predicted_object"
       pass_judge: "smooth_velocity"         # [-] candidate is "smooth_velocity" or "current_velocity"
-      filter_occupancy_grid: true           # [-] whether to filter occupancy grid by morphologyEx or not
-      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray shadow grid map
       use_object_info: true                 # [-] whether to reflect object info to occupancy grid map or not
+      use_moving_object_ray_cast: true      # [-] whether to reflect moving object ray shadow grid map
       use_partition_lanelet: true           # [-] whether to use partition lanelet map data
       pedestrian_vel: 1.5                   # [m/s] assume pedestrian is dashing from occlusion at this velocity
       pedestrian_radius: 0.3                # [m] assume pedestrian width(0.2m) + margin(0.1m)

planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -10,13 +10,13 @@
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       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]
-      min_strong_accel: -3.0 # obstacle stop requiring deceleration less than this value will be ignored [m/ss]
 
       lpf_gain_for_accel: 0.2 # gain of low pass filter for ego acceleration [-]
 
       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]
+      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       cruise_obstacle_type:
         unknown: true
@@ -76,10 +76,7 @@
 
       min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s]
 
-      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-
     optimization_based_planner:
-      limit_min_accel: -3.0
       resampling_s_interval: 2.0
       dense_resampling_time_interval: 0.1
       sparse_resampling_time_interval: 1.0
@@ -89,23 +86,8 @@
       velocity_margin: 0.1 #[m/s]
 
       # Parameters for safe distance
-      safe_distance_margin: 5.0
       t_dangerous: 0.5
 
-      # Parameters for collision detection
-      collision_time_threshold: 10.0
-      object_zero_velocity_threshold: 3.0 #[m/s]
-      object_low_velocity_threshold: 3.0 #[m/s]
-      external_velocity_limit: 20.0 #[m/s]
-      delta_yaw_threshold_of_object_and_ego: 90.0 # [deg]
-      delta_yaw_threshold_of_nearest_index: 60.0 # [deg]
-      collision_duration_threshold_of_object_and_ego: 1.0 # [s]
-
-      # Switch for each functions
-      enable_adaptive_cruise: true
-      use_object_acceleration: false
-      use_hd_map: true
-
       # For initial Motion
       replan_vel_deviation: 5.0         # velocity deviation to replan initial velocity [m/s]
       engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)

simulator_launch/launch/simulator.launch.xml

@@ -17,6 +17,16 @@
       <arg name="config_file" value="$(find-pkg-share simulator_launch)/config/fault_injection.param.yaml"/>
     </include>
   </group>
+  <group unless="$(var scenario_simulation)">
+    <!-- Occupancy Grid -->
+    <push-ros-namespace namespace="occupancy_grid_map"/>
+    <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
+      <arg name="input_obstacle_pointcloud" value="true" />
+      <arg name="input_obstacle_and_raw_pointcloud" value="false" />
+      <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
+      <arg name="output" value="/perception/occupancy_grid_map/map" />
+    </include>
+  </group>
 
   <!-- Dummy Perception -->
   <group if="$(var launch_dummy_perception)">
@@ -56,17 +66,6 @@
       </node>
     </group>
 
-    <!-- object segmentation module -->
-    <group>
-      <push-ros-namespace namespace="occupancy_grid_map"/>
-      <!-- Occupancy Grid -->
-      <include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py">
-        <arg name="input_obstacle_pointcloud" value="true" />
-        <arg name="input_obstacle_and_raw_pointcloud" value="false" />
-        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
-        <arg name="output" value="/perception/occupancy_grid_map/map" />
-      </include>
-    </group>
 
     <!-- traffic light module -->
     <group if="$(var perception/enable_traffic_light)">