Merge pull request autowarefoundation#729 from tier4/sync-tier4-upstream

chore: sync upstream
maxime-clem · Jan 16, 2024 · 633c4d9 · 633c4d9
2 parents c79d996 + b1e7c61
commit 633c4d9
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diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml
@@ -0,0 +1,29 @@
+name: sync-awf-latest
+
+on:
+  schedule:
+    - cron: 0 15 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest
+          sync-pr-branch: sync-awf-latest
+          sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+          sync-target-branch: main
+          pr-title: "chore: sync awf-latest"
+          pr-labels: |
+            bot
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -1,8 +1,5 @@
 /**:
   ros__parameters:
-    # Use dynamic map loading
-    use_dynamic_map_loading: true
-
     # Vehicle reference frame
     base_frame: "base_link"
 

diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -3,7 +3,6 @@
     enable_whole_load: true
     enable_downsampled_whole_load: false
     enable_partial_load: true
-    enable_differential_load: true
     enable_selected_load: false
 
     # only used when downsample_whole_load enabled

diff --git a/...perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/...perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
@@ -3,6 +3,8 @@
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    image_buffer_size: 15
+    debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0
     filter_scope_min_z: -100.0

diff --git a/...aunch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/...aunch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
@@ -1,18 +1,26 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 7  # x, y, z, time-lag and car, pedestrian, bicycle
-    max_voxel_size: 40000
-    point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-    voxel_size: [0.32, 0.32, 8.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 12
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    # post-process params
-    circle_nms_dist_threshold: 0.3
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    # omp params
-    omp_num_threads: 1
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
+      max_voxel_size: 40000
+      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+      voxel_size: [0.32, 0.32, 8.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 12
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      has_twist: false
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 0
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.3
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      score_threshold: 0.4
+    omp_params:
+      # omp params
+      num_threads: 1
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
@@ -13,6 +13,9 @@
     sigma_yaw_angle_deg: 5.0 #[angle degree]
     object_buffer_time_length: 2.0 #[s]
     history_time_length: 1.0 #[s]
+    check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints
+    max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths
+    min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 

diff --git a/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -17,7 +17,7 @@
     publish_untracked_objects: false
 
     # debug parameters
-    publish_processing_time: false
+    publish_processing_time: true
     publish_tentative_objects: false
-    diagnostic_warn_delay: 0.5      # [sec]
-    diagnostic_error_delay: 1.0     # [sec]
+    diagnostics_warn_delay: 0.5      # [sec]
+    diagnostics_error_delay: 1.0     # [sec]
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -77,6 +77,9 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
 
   # motion planning modules
   - arg:

diff --git a/autoware_launch/config/planning/preset/xx1_preset.yaml b/autoware_launch/config/planning/preset/xx1_preset.yaml
@@ -80,6 +80,9 @@ launch:
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
+  - arg:
+      name: launch_dynamic_obstacle_stop_module
+      default: "true"
 
   # motion planning modules
   - arg:

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -139,8 +139,9 @@
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         force_avoidance:
-          enable: true                                  # [-]
-          time_threshold: 1.0                            # [s]
+          enable: true                                   # [-]
+          time_threshold: 3.0                            # [s]
+          distance_threshold: 1.0                        # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]
@@ -188,7 +189,7 @@
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
         rear_vehicle_safety_time_margin: 1.0             # [s]
-        lateral_distance_max_threshold: 0.75             # [m]
+        lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
         longitudinal_velocity_delta_time: 0.8            # [s]
 
@@ -216,7 +217,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 25.0                                # [m]
+            buffer: 30.0                                # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -13,7 +13,7 @@
       smoothing:
         curvature_average_window: 3  # window size used for smoothing the curvatures using a moving window average
         max_bound_rate: 1.0  # [m/m] maximum rate of change of the bound lateral distance over its arc length
-        extra_arc_length: 2.0  # [m] extra arc length where an expansion distance is initially applied
+        arc_length_range: 2.0  # [m] arc length range where an expansion distance is initially applied
       ego:
         extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang

diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -38,33 +38,40 @@
         crossing_object:
           min_overtaking_object_vel: 1.0
           max_overtaking_object_angle: 1.05
-          min_oncoming_object_vel: 0.0
+          min_oncoming_object_vel: 1.0
           max_oncoming_object_angle: 0.523
 
         front_object:
           max_object_angle: 0.785
           min_object_vel: -0.5               # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
           max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
+        stopped_object:
+          max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
+
       drivable_area_generation:
         polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 0.8 # [m]
+        lat_offset_from_obstacle: 1.0 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
 
+        max_ego_lat_acc: 0.3        # [m/ss]
+        max_ego_lat_jerk: 0.3       # [m/sss]
+        delay_time_ego_shift: 1.0   # [s]
+
         # for same directional object
         overtaking_object:
           max_time_to_collision: 40.0 # [s]
-          start_duration_to_avoid: 2.0  # [s]
-          end_duration_to_avoid: 4.0  # [s]
+          start_duration_to_avoid: 1.0  # [s]
+          end_duration_to_avoid: 1.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
           max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
-          start_duration_to_avoid: 12.0  # [s]
+          start_duration_to_avoid: 1.0  # [s]
           end_duration_to_avoid: 0.0  # [s]
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -57,14 +57,14 @@
 
         # lane expansion for object filtering
         lane_expansion:
-          left_offset: 0.0 # [m]
-          right_offset: 0.0 # [m]
+          left_offset: 1.0 # [m]
+          right_offset: 1.0 # [m]
 
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]
-        min_values: [0.15, 0.15, 0.15]
-        max_values: [0.5, 0.5, 0.5]
+        min_values: [0.4, 0.4, 0.4]
+        max_values: [0.65, 0.65, 0.65]
 
       # target object
       target_object:
@@ -80,8 +80,8 @@
       # collision check
       enable_prepare_segment_collision_check: false
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      check_objects_on_current_lanes: true
-      check_objects_on_other_lanes: true
+      check_objects_on_current_lanes: false
+      check_objects_on_other_lanes: false
       use_all_predicted_path: true
 
       # lane change regulations
@@ -107,4 +107,4 @@
       finish_judge_lateral_threshold: 0.2        # [m]
 
       # debug
-      publish_debug_marker: false
+      publish_debug_marker: true
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -5,8 +5,9 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
-      collision_check_margin: 1.0
+      collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_distance_from_end: 1.0
+      collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0

diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     forward_path_length: 1000.0
     backward_path_length: 5.0
+    behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
     max_accel: -3.0
     max_jerk: -5.0

diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -54,7 +54,7 @@
         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: true # for the crosswalks with traffic signal
-        disable_yield_for_new_stopped_object: true # or the crosswalks with traffic signal
+        disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
         # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
         distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]

diff --git a/...lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/...lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
+      extra_object_width: 1.0  # [m] extra width around detected objects
+      minimum_object_velocity: 0.5  # [m/s] objects with a velocity bellow this value are ignored
+      stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
+      time_horizon: 5.0  # [s] time horizon used for collision checks
+      hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
+      decision_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being cancelled
+      minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
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
@@ -23,8 +23,7 @@
         stuck_vehicle_velocity_threshold: 0.833
         # enable_front_car_decel_prediction: false
         # assumed_front_car_decel: 1.0
-        timeout_private_area: 3.0
-        enable_private_area_stuck_disregard: false
+        disable_against_private_lane: true
 
       yield_stuck:
         turn_direction:
@@ -72,7 +71,7 @@
           enable: false
           creep_velocity: 0.8333
         peeking_offset: -0.5
-        occlusion_required_clearance_distance: 55
+        occlusion_required_clearance_distance: 55.0
         possible_object_bbox: [1.5, 2.5]
         ignore_parked_vehicle_speed_threshold: 0.8333
         occlusion_detection_hold_time: 1.5

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
@@ -4,7 +4,7 @@
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
-      specify_decel_jerk: false   # [-] whether to specify jerk when ego decelerates
+      specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
       deceleration_jerk: -0.3     # [m/s^3] ego decelerates with this jerk when stopping for obstacles

diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -17,7 +17,7 @@
       # params for stop position
       stop_position:
         max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
-        max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+        max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m]
         min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
         hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]
 

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -138,8 +138,9 @@
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
-    <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
+    <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
-    <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -54,6 +54,7 @@
     <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
     <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
     <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>
 
     <!-- parking -->