autowarefoundation · takayuki5168 · May 31, 2024 · May 31, 2024 · May 31, 2024 · Jun 2, 2024
diff --git a/.github/CODEOWNERS → .github/_CODEOWNERS b/.github/CODEOWNERS → .github/_CODEOWNERS
@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_obstacle_avoidance
-      default: "false"
+      default: "true"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations
@@ -93,6 +93,15 @@ launch:
       #         none
 
   # motion velocity planner modules
+  - arg:
+      name: launch_obstacle_stop_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_slow_down_module
+      default: "true"
+  - arg:
+      name: launch_obstacle_cruise_module
+      default: "true"
   - arg:
       name: launch_dynamic_obstacle_stop_module
       default: "true"
@@ -120,7 +129,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "false"
+      default: "true"
 
   # parking modules
   - arg:

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 4.17           # max velocity limit [m/s]
+    max_vel: 11.1           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:

@@ -56,10 +56,10 @@
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 0.3 # [m]
-        margin_distance_around_pedestrian: 0.8 # [m]
+        lat_offset_from_obstacle: 1.0 # [m]
+        margin_distance_around_pedestrian: 2.0 # [m]
         predicted_path:
-          end_time_to_consider: 1.0 # [s]
+          end_time_to_consider: 2.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]

@@ -23,9 +23,9 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.5                            # [m]
+            soft_margin: 0.7                            # [m]
             hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.2         # [m]
+            hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -34,9 +34,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -67,7 +67,7 @@
           th_moving_time: 1.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: -0.2
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
@@ -76,33 +76,33 @@
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 0.6
+          longitudinal_margin: 1.0
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
-          longitudinal_margin: 0.6
+          longitudinal_margin: 1.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.3
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 0.6
+          longitudinal_margin: 1.0
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
@@ -232,7 +232,7 @@
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
-          max_prepare_time: 2.0                         # [s]
+          max_prepare_time: 3.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER
@@ -294,7 +294,7 @@
           velocity: [1.39, 4.17, 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: [3.0, 3.0, 3.0]              # [m/sss]
+          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:

@@ -89,7 +89,7 @@
           object_time_margin_to_collision_point: 4.0
 
       occlusion:
-        enable: false
+        enable: true
         occlusion_attention_area_length: 70.0
         free_space_max: 43
         occupied_min: 58

@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug:

@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       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 : 4.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
@@ -99,8 +99,8 @@
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
       # hysteresis for cruise and stop
-      obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [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]
+      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle:
@@ -126,7 +126,7 @@
           ego_obstacle_overlap_time_threshold : 0.2 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
           max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
-          num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
         yield:
           enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding

@@ -0,0 +1,2 @@
+files:
+  - { path: $(dirname)/autoware-main.yaml }
@@ -0,0 +1,67 @@
+files:
+  - { path: $(dirname)/control.yaml }
+  # - { path: $(dirname)/hardware.yaml }
+  - { path: $(dirname)/localization.yaml }
+  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/planning.yaml }
+  # - { path: $(dirname)/others.yaml }
+  # - { path: $(dirname)/sensing.yaml }
+  - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/vehicle.yaml }
+
+units:
+  - path: /autoware/modes/local
+    type: stale
+
+  - path: /autoware/modes/remote
+    type: stale
+
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /map/autonomous_available }
+      - { type: link, link: /localization/autonomous_available }
+      - { type: link, link: /planning/autonomous_available }
+      - { type: link, link: /perception/autonomous_available }
+      - { type: link, link: /control/autonomous_available }
+      - { type: link, link: /vehicle/autonomous_available }
+      - { type: link, link: /system/autonomous_available }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /map/pull_over_available }
+      - { type: link, link: /localization/pull_over_available }
+      - { type: link, link: /planning/pull_over_available }
+      - { type: link, link: /perception/pull_over_available }
+      - { type: link, link: /control/pull_over_available }
+      - { type: link, link: /vehicle/pull_over_available }
+      - { type: link, link: /system/pull_over_available }
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /map/comfortable_stop_available }
+      - { type: link, link: /localization/comfortable_stop_available }
+      - { type: link, link: /planning/comfortable_stop_available }
+      - { type: link, link: /perception/comfortable_stop_available }
+      - { type: link, link: /control/comfortable_stop_available }
+      - { type: link, link: /vehicle/comfortable_stop_available }
+      - { type: link, link: /system/comfortable_stop_available }
+
+  - path: /autoware/modes/emergency_stop
+    type: ok
+
+  - path: /autoware/debug/tools
+    type: and
+    list:
+      - { type: link, link: /autoware/system/service_log_checker }
+
+  - path: /autoware/system/service_log_checker
+    type: diag
+    node: service_log_checker
+    name: response_status
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		files:
		- { path: $(dirname)/autoware-main.yaml }