Merge pull request autowarefoundation#209 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

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

@@ -0,0 +1,28 @@
+/**:
+  ros__parameters:
+    enable_delay_compensation: true
+    prediction_time_horizon: 7.8 #[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]
+    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]
+
+    lane_change_detection:
+      method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
+      time_to_change_lane:
+        dist_threshold_for_lane_change_detection: 1.0 #[m]
+        time_threshold_for_lane_change_detection: 5.0 #[s]
+        cutoff_freq_of_velocity_for_lane_change_detection: 0.1 #[Hz]
+      lat_diff_distance:
+        dist_ratio_threshold_to_left_bound: -0.5 #[ratio]
+        dist_ratio_threshold_to_right_bound: 0.5 #[ratio
+        diff_dist_threshold_to_left_bound: 0.29 #[m]
+        diff_dist_threshold_to_right_bound: -0.29 #[m]
+      num_continuous_state_transition: 3
+
+    reference_path_resolution: 0.5 #[m]

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

@@ -47,7 +47,8 @@
       # collision check
       enable_prepare_segment_collision_check: false
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      use_predicted_path_outside_lanelet: true
+      check_objects_on_current_lanes: true
+      check_objects_on_other_lanes: true
       use_all_predicted_path: true
 
       # lane change cancel

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

@@ -1,45 +1,51 @@
 /**:
   ros__parameters:
     crosswalk:
-      show_processing_time: false # [-] whether to show processing time
+      common:
+        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
 
       # param for stop position
-      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
-      stop_line_margin: 10.0 # [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_margin meters before the object)
-      stop_margin: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
-      stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk
+      stop_position:
+        stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding
 
-      # param for ego velocity
-      min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
-      max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
-      max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
-      no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
+        # For the Lanelet2 map with no explicit stop lines
+        stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
+        # For the case where the crosswalk width is very wide
+        far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
+        # For the case where the stop position is determined according to the object position.
+        stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
-      # param for stuck vehicle
-      stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
-      max_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
-      stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
+      # param for ego's slow down velocity
+      slow_down:
+        min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
+        max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
+        max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
+        no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
 
-      # param for pass judge logic
-      disable_stop_for_yield_cancel: false
-      ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-      ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
-      stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
-      min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
-      max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
-      ego_yield_query_stop_duration: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
-
-      # param for input data
-      tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
+      # param for stuck vehicles
+      stuck_vehicle:
+        stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
+        max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
+        stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
 
-      # param for target area & object
-      crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
-      target_object:
-        unknown: true # [-] whether to look and stop by UNKNOWN objects
-        bicycle: true # [-] whether to look and stop by BICYCLE objects
-        motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
-        pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
+      # param for pass judge logic
+      pass_judge:
+        ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
+        min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
+        ## param for yielding
+        disable_stop_for_yield_cancel: false
+        timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
 
-    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
+      # param for target object filtering
+      object_filtering:
+        crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        target_object:
+          unknown: true # [-] whether to look and stop by UNKNOWN objects
+          bicycle: true # [-] whether to look and stop by BICYCLE objects
+          motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
+          pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects

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

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    walkway:
+      stop_duration: 1.0 # [s] stop time at stop position
+      stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists

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

@@ -19,6 +19,9 @@
       output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
       output_backward_traj_length: 5.0  # backward length for backward trajectory from base_link [m]
 
+      vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
+                                                     # This margin will be realized with delta_arc_length_for_mpt_points m precision.
+
     # replanning & trimming trajectory param outside algorithm
     replan:
       max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -43,6 +43,10 @@
       name="object_recognition_detection_fusion_sync_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
+    <arg
+      name="object_recognition_prediction_map_based_prediction_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
+    />
     <arg
       name="object_recognition_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"

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -50,6 +50,7 @@
       name="behavior_velocity_planner_module_param_paths"
       value="[$(var behavior_velocity_config_path)/blind_spot.param.yaml,
               $(var behavior_velocity_config_path)/crosswalk.param.yaml,
+              $(var behavior_velocity_config_path)/walkway.param.yaml,
               $(var behavior_velocity_config_path)/detection_area.param.yaml,
               $(var behavior_velocity_config_path)/intersection.param.yaml,
               $(var behavior_velocity_config_path)/stop_line.param.yaml,

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -27,6 +27,10 @@
     <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
 
     <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
+    <arg
+      name="object_recognition_prediction_map_based_prediction_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
+    />
     <arg
       name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"