chore: sync awf/autoware_launch

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

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    avoidance_by_lane_change:
+      execute_object_num: 1
+      execute_object_longitudinal_margin: 0.0
+      execute_only_when_lane_change_finish_before_object: true

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

@@ -2,6 +2,9 @@
   ros__parameters:
     verbose: false
 
+    groot_zmq_publisher_port: 1666
+    groot_zmq_server_port: 1667
+
     planning_hz: 10.0
     backward_path_length: 5.0
     forward_path_length: 300.0

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

@@ -1,18 +1,17 @@
 /**:
   ros__parameters:
     lane_change:
-      lane_change_prepare_duration: 4.0         # [s]
-      lane_changing_safety_check_duration: 8.0  # [s]
+      prepare_duration: 4.0         # [s]
 
-      minimum_lane_change_prepare_distance: 2.0 # [m]
-      minimum_lane_change_length: 16.5          # [m]
+      minimum_prepare_length: 2.0 # [m]
+      minimum_lane_changing_length: 16.5          # [m]
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5           # [m/s3]
       lane_changing_lateral_acc: 0.5            # [m/s2]
 
-      minimum_lane_change_velocity: 2.78        # [m/s]
+      minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
       lane_change_sampling_num: 3
@@ -23,6 +22,17 @@
       use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false
 
+      # target object
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: true
+        bicycle: true
+        motorcycle: true
+        pedestrian: true
+
       # abort
       enable_cancel_lane_change: true
       enable_abort_lane_change: false

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

@@ -23,8 +23,8 @@
 
     lane_change_right:
       enable_module: true
-      enable_simultaneous_execution: false
-      priority: 4
+      enable_simultaneous_execution: true
+      priority: 5
       max_module_size: 1
 
     pull_out:
@@ -47,6 +47,13 @@
 
     avoidance:
       enable_module: true
+      enable_simultaneous_execution: true
+      priority: 4
+      max_module_size: 1
+
+    # NOTE: This module is unstable. Deprecated for now.
+    avoidance_by_lc:
+      enable_module: false
       enable_simultaneous_execution: false
       priority: 3
       max_module_size: 1

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

@@ -6,3 +6,4 @@
       shifting_lateral_jerk: 0.2
       min_shifting_distance: 5.0
       min_shifting_speed: 5.56
+      shift_request_time_limit: 1.0

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

@@ -13,6 +13,7 @@
     launch_speed_bump: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
+    stop_line_extend_length: 5.0
     max_accel: -2.8
     max_jerk: -5.0
     system_delay: 0.5

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

@@ -3,7 +3,8 @@
     blind_spot:
       use_pass_judge_line: true
       stop_line_margin: 1.0 # [m]
-      backward_length: 15.0 # [m]
+      backward_length: 50.0 # [m]
       ignore_width_from_center_line: 0.7 # [m]
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
+      adjacent_extend_width: 1.5 # [m]

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

@@ -29,6 +29,7 @@
       ego_yield_query_stop_duration: 0.1 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
       # param for input data
+      external_input_timeout: 1.0
       tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
 
       # param for target area & object
@@ -42,3 +43,4 @@
     walkway:
       stop_duration_sec: 1.0 # [s] stop time at stop position
       stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+      external_input_timeout: 1.0

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

@@ -21,7 +21,11 @@
       use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
       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
-      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection
+      stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
+      external_input_timeout: 1.0
 
     merge_from_private_road:
       stop_duration_sec: 1.0
+    merge_from_private:
+      merge_from_private_area:
+        stop_duration_sec: 1.0

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

@@ -6,3 +6,6 @@
       stop_duration_sec: 1.0
       use_initialization_stop_line_state: true
       hold_stop_margin_distance: 2.0
+
+      debug:
+        show_stopline_collision_check: false

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

@@ -6,3 +6,4 @@
       dead_line_margin: 1.0
       max_yaw_deviation_deg: 90.0
       check_timeout_after_stop_line: true
+      hold_stop_margin_distance: 0.0

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -33,6 +33,10 @@
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
     />
     <arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
+    <arg
+      name="avoidance_by_lc_param_path"
+      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
+    />
     <arg
       name="lane_change_param_path"
       value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"

autoware_launch/rviz/autoware.rviz

@@ -1011,6 +1011,29 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: true
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: false
+                      Name: PathReference_AvoidanceByLC
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_reference/avoidance_by_lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.3
+                        Color: 210; 110; 10
+                        Constant Color: true
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: false
@@ -1126,6 +1149,29 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_AvoidanceByLC
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/avoidance_by_lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true