Merge pull request #614 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.35 with tier4/main

.github/CODEOWNERS

@@ -9,7 +9,7 @@ autoware_launch/config/control/** [email protected] fumiya.watanabe@tier
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/perception/** [email protected] [email protected] [email protected]
-autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
 autoware_launch/config/vehicle/** [email protected] [email protected] [email protected] [email protected] [email protected]

.github/CODEOWNERS-manual

@@ -4,7 +4,7 @@ autoware_launch/** [email protected] [email protected] mfc@leodr
 autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/config/perception/** [email protected] [email protected] [email protected]
+autoware_launch/config/perception/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
@@ -13,7 +13,7 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
 autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -5,6 +5,7 @@
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
     admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
+    use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing
@@ -75,4 +76,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
+    publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -34,3 +34,6 @@
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
         radial_divider_angle_deg: 1.0
+
+        # debug parameters
+        publish_processing_time_detail: false

autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml

@@ -10,3 +10,6 @@
     cost_threshold: 45
     use_radius_search_2d_filter: true
     enable_debugger: false
+
+    # debug parameters
+    publish_processing_time_detail: False

autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml

@@ -16,3 +16,6 @@
     map_length: 150.0
     map_width: 150.0
     map_resolution: 0.5
+
+    # debug parameters
+    publish_processing_time_detail: false

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -12,6 +12,9 @@
         map_length_x: 150.0 # [m]
         map_length_y: 150.0 # [m]
 
+        # debug parameters
+        publish_processing_time_detail: false
+
       # downsample input pointcloud
       downsample_input_pointcloud: true
       downsample_voxel_size: 0.25 # [m]

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

@@ -32,3 +32,6 @@
       projection_dz_threshold: 0.01 # [m] for avoiding null division
       obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length
       pub_debug_grid: false
+
+    # debug parameters
+    publish_processing_time_detail: false

autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml

@@ -18,3 +18,6 @@
     fusion_map_length_x: 100.0
     fusion_map_length_y: 100.0
     fusion_map_resolution: 0.5
+
+    # debug parameters
+    publish_processing_time_detail: false

autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -10,3 +10,4 @@
     minimum_reroute_length: 30.0
     consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
     check_footprint_inside_lanes: true
+    allow_reroute_in_autonomous_mode: true

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

@@ -51,6 +51,7 @@
           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:
+        expand_drivable_area: false
         polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]

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

@@ -24,5 +24,3 @@
     enable_cog_on_centerline: false
     input_path_interval: 2.0
     output_path_interval: 2.0
-
-    visualize_maximum_drivable_area: true

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

@@ -23,6 +23,10 @@
         ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.75
         high_curvature_threshold: 0.1
+        bus_stop_area:
+          use_bus_stop_area: false
+          goal_search_interval: 0.5
+          lateral_offset_interval: 0.25
 
       # occupancy grid map
       occupancy_grid:

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

@@ -7,6 +7,7 @@
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
+      skip_rear_vehicle_check: false
       extra_width_margin_for_rear_obstacle: 0.5
       th_moving_object_velocity: 1.0
       object_types_to_check_for_path_generation:

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

@@ -16,7 +16,10 @@
         # 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: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object_preferred: 3.0 # [m]
+        stop_distance_from_object_limit: 3.0 # [m]
+        min_acc_preferred: -1.0 # min acceleration [m/ss]
+        min_jerk_preferred: -1.0 # min jerk [m/sss]
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -45,11 +48,10 @@
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point
 
-        no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
-          max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
-          min_acc: -1.0 # min acceleration [m/ss]
-          min_jerk: -1.0 # min jerk [m/sss]
-          max_jerk: 1.0 # max jerk [m/sss]
+        no_stop_decision: # parameters to determine stop cancel. {-$overrun_threshold_length + f($min_acc, $min_jerk)} is compared against distance to stop pose.
+          min_acc: -1.5 # min acceleration [m/ss]
+          min_jerk: -1.5 # min jerk [m/sss]
+          overrun_threshold_length: 1.0 # [m] required to avoid giving up against backward movement of the stop position due to approaching pedestrians, etc.
 
         stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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)
@@ -60,6 +62,11 @@
         timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s]
         timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
+      # params for suppressing the ego to restart when the ego is close to the next stop position.
+      restart_suppression:
+        min_distance_to_stop: 0.5
+        max_distance_to_stop: 1.0
+
       # param for target object filtering
       object_filtering:
         crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk

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

@@ -17,7 +17,7 @@
       ego_cut_line_length: 3.0    # The width of the ego's cut line
       ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
       keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
-      keep_stop_point_time: 1.0   # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
+      keep_stop_point_time: 2.0   # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:
@@ -29,7 +29,7 @@
         std_dev_multiplier: 1.96  # [-] min and max velocity of the obstacles are calculated from this value and covariance
         diameter: 0.1             # [m] diameter of obstacles. used for creating dynamic obstacles from points
         height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
-        max_prediction_time: 3.0  # [sec] create predicted path until this time
+        max_prediction_time: 7.0  # [sec] create predicted path until this time
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
@@ -44,7 +44,7 @@
       # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
-        time_threshold: 0.5   # [sec] ignores detections that persist for less than this duration
+        time_threshold: 0.15   # [sec] ignores detections that persist for less than this duration
 
       # Typically used when the "detection_method" is set to ObjectWithoutPath or Points
       # Approach if the ego has stopped in front of the obstacle for a certain period