Merge branch 'main' into main

autowarefoundation · Oct 24, 2023 · 44e6bd3 · 44e6bd3
2 parents 96aa313 + c88d055
commit 44e6bd3
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Showing 7 changed files with 14 additions and 2 deletions.
diff --git a/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     enable_delay_compensation: true
     prediction_time_horizon: 10.0 #[s]
+    lateral_control_time_horizon: 5.0 #[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]

diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -1,6 +1,7 @@
 /**:
   ros__parameters:
     verbose: false
+    max_iteration_num: 100
 
     groot_zmq_publisher_port: 1666
     groot_zmq_server_port: 1667

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -12,6 +12,9 @@
         use_intersection_area: false
         path_interpolation_ds: 0.1 # [m]
         consider_wrong_direction_vehicle: false
+        max_accel: -2.8
+        max_jerk: -5.0
+        delay_response_time: 0.5
       stuck_vehicle:
         turn_direction:
           left: true
@@ -76,6 +79,7 @@
           maximum_peeking_distance: 6.0 # [m]
         attention_lane_crop_curvature_threshold: 0.25
         attention_lane_curvature_calculation_ds: 0.5
+        static_occlusion_with_traffic_light_timeout: 0.5
 
       enable_rtc:
         intersection: false # 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

diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -48,3 +48,8 @@
         enable: true
         max_jerk: -0.7  # [m/s^3] minimum jerk deceleration for safe brake.
         max_acc : -2.0  # [m/s^2] minimum accel deceleration for safe brake.
+
+      # prevent abrupt stops caused by false positives in perception
+      ignore_momentary_detection:
+        enable: true
+        time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
diff --git a/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -40,7 +40,7 @@
       enable: true  # if true, only perform smoothing when the input changes significantly
       max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]
       max_path_shape_forward_lon_dist: 100.0   # forward point to check lateral distance difference [m]
-      max_path_shape_forward_lat_dist: 0.1     # threshold of path shape change around forward point [m]
+      max_path_shape_forward_lat_dist: 0.2     # threshold of path shape change around forward point [m]
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]

diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml
@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
+    add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg
diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -39,7 +39,7 @@
         /autoware/system/emergency_stop_operation: default
         /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
-        /autoware/system/duplicated_node_checker: default
+        # /autoware/system/duplicated_node_checker: default
 
         /autoware/vehicle/node_alive_monitoring: default