Merge pull request autowarefoundation#965 from tier4/sync-beta-upstream

chore: sync beta upstream
tier4 · Sep 15, 2024 · a8a92ab · a8a92ab
2 parents 64f6a48 + 5f0dc8e
commit a8a92ab
Show file tree

Hide file tree

Showing 3 changed files with 28 additions and 10 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -2,30 +2,35 @@
   ros__parameters:
     # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: false
+    use_imu_path: true
+    use_pointcloud_data: true
+    use_predicted_object_data: false
     use_object_velocity_calculation: true
+    check_autoware_state: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_horizon: 4.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
     publish_debug_pointcloud: false
+    publish_debug_markers: true
 
     # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
-    voxel_grid_x: 0.05
-    voxel_grid_y: 0.05
-    voxel_grid_z: 100000.0
+    voxel_grid_x: 0.1
+    voxel_grid_y: 0.1
+    voxel_grid_z: 0.5
 
     # Point cloud cropping
     expand_width: 0.1
-    path_footprint_extra_margin: 4.0
+    path_footprint_extra_margin: 2.0
 
     # Point cloud clustering
-    cluster_tolerance: 0.1 #[m]
+    cluster_tolerance: 0.15 #[m]
+    cluster_minimum_height: 0.1
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 

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
@@ -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

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2463,6 +2463,19 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/autonomous_emergency_braking/debug/markers
           Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Info/AEB
+          Namespaces:
+            stop_factor_text: true
+            stop_virtual_wall: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/autonomous_emergency_braking/info/markers
+          Value: false
       Enabled: true
       Name: Control
     - Class: rviz_common/Group