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Merge pull request #760 from tier4/sync-awf-latest-x2
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chore: sync awf-latest-x2
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tier4-autoware-public-bot[bot] committed Feb 7, 2023
2 parents 4c40ba6 + 72c3a1a commit 7906e81
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Showing 8 changed files with 107 additions and 34 deletions.
12 changes: 0 additions & 12 deletions autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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update_steer_threshold: 0.035
average_num: 1000
steering_offset_limit: 0.02

# vehicle parameters
vehicle:
cg_to_front_m: 1.228
cg_to_rear_m: 1.5618
mass_kg: 2400.0
mass_fl: 600.0
mass_fr: 600.0
mass_rl: 600.0
mass_rr: 600.0
cf: 155494.663
cr: 155494.663
11 changes: 11 additions & 0 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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/**:
ros__parameters:
# Use dynamic map loading
use_dynamic_map_loading: true

# Vehicle reference frame
base_frame: "base_link"
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# Regularization scale factor
regularization_scale_factor: 0.01

# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0

# A flag for using scan matching score based on de-grounded LiDAR scan
estimate_scores_for_degrounded_scan: false

# If lidar_point.z - base_link.z <= this threshold , the point will be removed
z_margin_for_ground_removal: 0.8
4 changes: 2 additions & 2 deletions autoware_launch/config/map/pointcloud_map_loader.param.yaml
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ros__parameters:
enable_whole_load: true
enable_downsampled_whole_load: false
enable_partial_load: false
enable_differential_load: false
enable_partial_load: true
enable_differential_load: true

# only used when downsample_whole_load enabled
leaf_size: 3.0 # downsample leaf size [m]
26 changes: 13 additions & 13 deletions ...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
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max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
4.0, 2.5, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE
3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN
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3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

min_iou_matrix: # If value is negative, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
0.1, 0.1, 0.1, 0.1, 0.1, -1.0, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN
2 changes: 1 addition & 1 deletion ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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# resampling parameters for optimization
max_trajectory_length: 200.0 # max trajectory length for resampling [m]
min_trajectory_length: 150.0 # min trajectory length for resampling [m]
min_trajectory_length: 180.0 # min trajectory length for resampling [m]
resample_time: 2.0 # resample total time for dense sampling [s]
dense_resample_dt: 0.2 # resample time interval for dense sampling [s]
dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
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74 changes: 74 additions & 0 deletions ...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
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<?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Fallback>
<ReactiveSequence>
<Condition ID="PullOver_Request"/>
<Action ID="PullOver_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="PullOut_Request"/>
<Action ID="PullOut_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="SideShift_Request"/>
<Action ID="SideShift_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="ExternalRequestLaneChangeRight_Request"/>
<Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="ExternalRequestLaneChangeLeft_Request"/>
<Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="LaneChange_Request"/>
<Action ID="LaneChange_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="Avoidance_Request"/>
<Action ID="Avoidance_Plan" output="{output}"/>
</ReactiveSequence>
<Action ID="LaneFollowing_Plan" output="{output}"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="Avoidance_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="Avoidance_Request"/>
<Condition ID="ExternalApproval"/>
<Action ID="ExternalRequestLaneChangeRight_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="ExternalRequestLaneChangeRight_Request"/>
<Action ID="ExternalRequestLaneChangeLeft_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="ExternalRequestLaneChangeLeft_Request"/>
<Action ID="LaneChange_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="LaneChange_Request"/>
<Action ID="LaneFollowing_Plan">
<output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
</Action>
<Condition ID="LaneFollowing_Request"/>
<Action ID="PullOut_Plan">
<output_port name="output"/>
</Action>
<Condition ID="PullOut_Request"/>
<Action ID="PullOver_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="PullOver_Request"/>
<Action ID="SideShift_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="SideShift_Request"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
2 changes: 1 addition & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Expand Up @@ -14,7 +14,7 @@
minimum_lane_change_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
maximum_deceleration: 1.0 # [m/s2]
lane_change_sampling_num: 10
lane_change_sampling_num: 3

# collision check
enable_collision_check_at_prepare_phase: false
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10 changes: 5 additions & 5 deletions ...anning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
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Expand Up @@ -4,7 +4,7 @@
detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object"
pass_judge: "smooth_velocity" # [-] candidate is "smooth_velocity" or "current_velocity"
use_object_info: true # [-] whether to reflect object info to occupancy grid map or not
use_moving_object_ray_cast: true # [-] whether to reflect moving object ray_cast to occupancy grid map or not
use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map
use_partition_lanelet: true # [-] whether to use partition lanelet map data
pedestrian_vel: 1.5 # [m/s] assume pedestrian is dashing from occlusion at this velocity
pedestrian_radius: 0.3 # [m] assume pedestrian width(0.2m) + margin(0.1m)
Expand All @@ -18,8 +18,8 @@
lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision
motion:
safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety
max_slow_down_jerk: -0.5 # [m/s^3] minimum jerk deceleration for safe brake.
max_slow_down_accel: -1.8 # [m/s^2] minimum accel deceleration for safe brake.
max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake.
max_slow_down_accel: -1.5 # [m/s^2] minimum accel deceleration for safe brake.
non_effective_jerk: -0.3 # [m/s^3] weak jerk for velocity planning.
non_effective_acceleration: -1.0 # [m/s^2] weak deceleration for velocity planning.
min_allowed_velocity: 1.0 # [m/s] minimum velocity allowed
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min_occlusion_spot_size: 1.0 # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle.
slice_length: 10.0 # [m] size of slices in both length and distance relative to the ego path.
min_longitudinal_offset: 1.0 # [m] detection area safety buffer from front bumper.
max_lateral_distance: 6.0 # [m] buffer around the ego path used to build the detection area.
max_lateral_distance: 5.0 # [m] buffer around the ego path used to build the detection area.
grid:
free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid
occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid
occupied_min: 57 # [-] minimum value of an occupied cell in the occupancy grid

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