Merge pull request #914 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.47 with tier4/main

Author: tier4-autoware-public-bot[bot]

autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml

@@ -4,7 +4,10 @@
     voxel_leaf_size: 0.3
     min_points_number_per_voxel: 1
     min_cluster_size: 10
-    max_cluster_size: 3000
+    max_cluster_size: 3000  # this is the maximum number of voxels when clustered
+    max_voxel_cluster_for_output: 800  # Maximum number of voxels in a cluster when outputted
+    min_voxel_cluster_size_for_filtering: 65  # Clusters below this number of voxels are exempt from per-voxel filtering
+    max_points_per_voxel_in_large_cluster: 10  # Max points allowed per voxel in a large cluster
     use_height: false
     input_frame: "base_link"
 

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml

@@ -12,15 +12,20 @@
 
     filter_settings:
       # polygon overlap based filter
-      polygon_overlap_filter:
-       enabled: true
+      lanelet_xy_overlap_filter:
+        enabled: true
+
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
-      debug: false
+
+      # object's elevation from lanelet based filter
+      lanelet_object_elevation_filter:
+        enabled: false
+        max_elevation_threshold: 5.0 # [m] from a lanelet's surface
+        min_elevation_threshold: 0.0 # [m] from a lanelet's surface
+
       lanelet_extra_margin: 0.0
-      use_height_threshold: false
-      max_height_threshold: 10.0 # [m] from the base_link height in map frame
-      min_height_threshold: -1.0 # [m] from the base_link height in map frame
+      debug: false

autoware_launch/config/perception/object_recognition/detection/irregular_object_detection/irregular_object_detector.param.yaml

@@ -25,6 +25,7 @@
         detection_range_z_max: 3.2
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
+        recheck_start_distance: 20.0
         use_lowest_point: false
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0
@@ -35,7 +36,9 @@
     roi_pointcloud_fusion:
       parameters:
         fuse_unknown_only: true
+        override_class_with_unknown: false
         min_cluster_size: 2
         max_cluster_size: 100
         cluster_2d_tolerance: 0.5
         roi_scale_factor: 2.0
+        max_object_size: 2.0

autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml

@@ -12,15 +12,20 @@
 
     filter_settings:
       # polygon overlap based filter
-      polygon_overlap_filter:
+      lanelet_xy_overlap_filter:
         enabled: true
+
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
-      debug: false
+
+      # object's elevation from lanelet based filter
+      lanelet_object_elevation_filter:
+        enabled: false
+        max_elevation_threshold: 5.0 # [m] from a lanelet's surface
+        min_elevation_threshold: 0.0 # [m] from a lanelet's surface
+
       lanelet_extra_margin: 0.0
-      use_height_threshold: false
-      max_height_threshold: 10.0 # [m] from the base_link height in map frame
-      min_height_threshold: -1.0 # [m] from the base_link height in map frame
+      debug: false

autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml

@@ -12,15 +12,20 @@
 
     filter_settings:
       # polygon overlap based filter
-      polygon_overlap_filter:
+      lanelet_xy_overlap_filter:
         enabled: true
+
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
-      debug: false
+
+      # object's elevation from lanelet based filter
+      lanelet_object_elevation_filter:
+        enabled: false
+        max_elevation_threshold: 5.0 # [m] from a lanelet's surface
+        min_elevation_threshold: 0.0 # [m] from a lanelet's surface
+
       lanelet_extra_margin: 0.0
-      use_height_threshold: false
-      max_height_threshold: 10.0 # [m] from the base_link height in map frame
-      min_height_threshold: -1.0 # [m] from the base_link height in map frame
+      debug: false

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

@@ -23,11 +23,12 @@
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
         grid_size_m: 0.5
-        grid_mode_switch_radius: 20.0
+        grid_mode_switch_radius: 150.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5
         elevation_grid_mode: true
         use_recheck_ground_cluster: true
+        recheck_start_distance: 20.0
         use_lowest_point: true
         low_priority_region_x: -20.0
         center_pcl_shift: 0.0

autoware_launch/config/planning/preset/default_preset.yaml

@@ -39,6 +39,9 @@ launch:
   - arg:
       name: launch_side_shift_module
       default: "true"
+  - arg:
+      name: launch_bidirectional_traffic_module
+      default: "true"
 
   # behavior velocity modules
   - arg:
@@ -121,13 +124,6 @@ launch:
       name: launch_mvp_run_out_module
       default: "false"
 
-  - arg:
-      name: motion_stop_planner_type
-      default: none
-      # option: obstacle_stop_planner
-      #         obstacle_cruise_planner
-      #         none
-
   - arg:
       name: velocity_smoother_type
       default: JerkFiltered
@@ -144,3 +140,11 @@ launch:
   - arg:
       name: launch_parking_module
       default: "true"
+
+  # validator modules
+  - arg:
+      name: launch_latency_checker
+      default: "true"
+  - arg:
+      name: launch_trajectory_checker
+      default: "true"

autoware_launch/config/planning/scenario_planning/common/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    update_rate: 10  # Hz

autoware_launch/config/planning/scenario_planning/common/planning_validator/latency_checker.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    latency_checker:
+      enable: true
+      threshold: 1.0
+      is_critical: false

autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    planning_hz: 10.0
     # Operation option when invalid trajectory is detected
     #  0: publish the trajectory even if it is invalid
     #  1: stop publishing the trajectory
@@ -20,57 +21,3 @@
     enable_soft_stop_on_prev_traj: true
     soft_stop_deceleration: -1.0 # [m/s^2]
     soft_stop_jerk_lim: 0.3 # [m/s^3]
-
-    validity_checks:
-      latency:
-        enable: true
-        threshold: 1.0
-        is_critical: false
-      interval:
-        enable: true
-        threshold: 100.0
-        is_critical: false
-      curvature:
-        enable: true
-        threshold: 1.0
-        is_critical: false
-      relative_angle:
-        enable: true
-        threshold: 2.0 # (= 115 degree)
-        is_critical: false
-      acceleration:
-        enable: true
-        lateral_th: 9.8
-        longitudinal_max_th: 9.8
-        longitudinal_min_th: -9.8
-        is_critical: false
-      lateral_jerk:
-        enable: true
-        threshold: 7.0
-        is_critical: false
-      steering:
-        enable: true
-        threshold: 1.414
-        is_critical: false
-      steering_rate:
-        enable: true
-        threshold: 10.0
-        is_critical: false
-      deviation:
-        enable: true
-        velocity_th: 100.0
-        distance_th: 100.0
-        lon_distance_th: 1.0
-        yaw_th: 1.5708 # (= 90 degrees)
-        is_critical: false
-      forward_trajectory_length:
-        enable: true
-        acceleration: -3.0
-        margin: 2.0
-        is_critical: false
-      trajectory_shift:
-        enable: true
-        lat_shift_th: 0.5
-        forward_shift_th: 1.0
-        backward_shift_th: 0.1
-        is_critical: true

autoware_launch/config/planning/scenario_planning/common/planning_validator/trajectory_checker.param.yaml

@@ -0,0 +1,66 @@
+/**:
+  ros__parameters:
+    trajectory_checker:
+      interval:
+        enable: true
+        threshold: 100.0
+        is_critical: false
+      curvature:
+        enable: true
+        threshold: 1.0
+        is_critical: false
+      relative_angle:
+        enable: true
+        threshold: 2.0 # (= 115 degree)
+        is_critical: false
+      lateral_accel:
+        enable: true
+        threshold: 9.8
+        is_critical: false
+      min_lon_accel:
+        enable: true
+        threshold: -9.8
+        is_critical: false
+      max_lon_accel:
+        enable: true
+        threshold: 9.8
+        is_critical: false
+      lateral_jerk:
+        enable: true
+        threshold: 7.0
+        is_critical: false
+      steering:
+        enable: true
+        threshold: 1.414
+        is_critical: false
+      steering_rate:
+        enable: true
+        threshold: 10.0
+        is_critical: false
+      distance_deviation:
+        enable: true
+        threshold: 100.0
+        is_critical: false
+      lon_distance_deviation:
+        enable: true
+        threshold: 1.0
+        is_critical: false
+      velocity_deviation:
+        enable: true
+        threshold: 100.0
+        is_critical: false
+      yaw_deviation:
+        enable: true
+        threshold: 1.5708 # (= 90 degrees)
+        is_critical: false
+      forward_trajectory_length:
+        enable: true
+        acceleration: -3.0
+        margin: 2.0
+        is_critical: false
+      trajectory_shift:
+        enable: true
+        lat_shift_th: 0.5
+        forward_shift_th: 1.0
+        backward_shift_th: 0.1
+        is_critical: true

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

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    bidirectional_traffic:
+      time_to_prepare_pull_over: 1.0
+      min_distance_from_roadside: 0.2
+      keep_left_distance_from_center_line: 0.5
+      shift_distance_to_pull_over_from_center_line: 1.6
+      wait_time_for_oncoming_car: 15.0
+      max_lateral_jerk: 3.0
+      min_lateral_jerk: 2.0

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

@@ -152,7 +152,7 @@
           # detection range
           object_check_forward_distance: 100.0
           object_check_backward_distance: 100.0
-          ignore_object_velocity_threshold: 1.0
+          ignore_object_velocity_threshold: 0.25
           # ObjectTypesToCheck
           object_types_to_check:
             check_car: true

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

@@ -20,6 +20,7 @@
       - "lane_change_right"
       - "external_request_lane_change_left"
       - "external_request_lane_change_right"
+      - "bidirectional_traffic"
     slot3:
       - "goal_planner"
     slot4:
@@ -80,3 +81,8 @@
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+
+    bidirectional_traffic:
+      enable_rtc: false
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true

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

@@ -116,7 +116,7 @@
           # detection range
           object_check_forward_distance: 10.0
           object_check_backward_distance: 100.0
-          ignore_object_velocity_threshold: 1.0
+          ignore_object_velocity_threshold: 0.25
           # ObjectTypesToCheck
           object_types_to_check:
             check_car: true

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

@@ -93,3 +93,12 @@
           custom_labels: ["PEDESTRIAN"]  # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
           custom_thresholds: [0.0]  # velocities of the custom labels
         extra_predicted_objects_size: 0.5  # [m] extra size added to the objects for masking the occlusions
+
+      # param for parked vehicles stop
+      parked_vehicles_stop:
+        enable: false # if true, ego will stop if there are parked vehicles before the crosswalk
+        search_distance: 5.0  # [m] distance ahead of the crosswalk where to search for parked vehicles
+        min_ego_stop_duration: 1.0  # [s] minimum duration ego should stop before it can continue
+        vehicle_permanence_duration: 0.5  # [s] if an object disappears or is no longer classified as parked vehicle, its last state is still used for this duration
+        ego_inside_safe_area_margin: 0.3  # [m] margin used to consider if ego is inside the search area. Should be higher than the expected longitudinal error when stopping.
+        parked_velocity_threshold: 0.5  # [m/s] vehicle are considered to be parked if their velocity is less or equal this threshold

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

@@ -109,6 +109,11 @@
         creep_velocity_without_traffic_light: 1.388
         static_occlusion_with_traffic_light_timeout: 0.5
 
+      conservative_merging:
+        enable_yield: false
+        minimum_lateral_distance_threshold: 0.2
+        merging_judge_angle_threshold: 0.785
+
       debug:
         ttc: [0]
 

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml

@@ -10,6 +10,14 @@
         terminal_stop_margin : 3.0 # Stop margin at the goal. This value cannot exceed stop margin. [m]
         min_behavior_stop_margin: 3.0 # [m]
 
+        max_negative_velocity: -0.1 # [m/s] maximum velocity of opposing traffic to consider stop planning
+        stop_margin_opposing_traffic: 10.0 # Ideal stop-margin from moving opposing obstacle when ego comes to a stop
+        effective_deceleration_opposing_traffic: 4.0 # Setting a higher value brings the final stop-margin closer to the ideal value above
+
+        min_on_duration: 0.3  # [s] minimum duration needed before a decision can be triggered
+        min_off_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
+        update_distance_th: 0.5 # [m] minimum distance threshold to update stop point
+
         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]
 
@@ -80,3 +88,4 @@
 
         crossing_obstacle:
           collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
+          traj_angle_threshold: 0.523599 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop