chore: sync awf/autoware_launch

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

@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -4,6 +4,7 @@
     enable_yaw_bias_estimation: true
     predict_frequency: 50.0
     tf_rate: 50.0
+    publish_tf: true
     extend_state_step: 50
 
     # for Pose measurement
@@ -22,6 +23,10 @@
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
 
+    #Simple1DFilter parameters
+    z_filter_proc_dev: 1.0
+    roll_filter_proc_dev: 0.01
+    pitch_filter_proc_dev: 0.01
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
     pose_no_update_count_threshold_error: 100

autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml

@@ -1,11 +1,10 @@
 /**:
   ros__parameters:
-    tracker_ignore_label:
-      UNKNOWN : true
-      CAR : false
-      TRUCK : false
-      BUS : false
-      TRAILER : false
-      MOTORCYCLE : false
-      BICYCLE : false
-      PEDESTRIAN : false
+    tracker_ignore_label.UNKNOWN : true
+    tracker_ignore_label.CAR : false
+    tracker_ignore_label.TRUCK : false
+    tracker_ignore_label.BUS : false
+    tracker_ignore_label.TRAILER : false
+    tracker_ignore_label.MOTORCYCLE : false
+    tracker_ignore_label.BICYCLE : false
+    tracker_ignore_label.PEDESTRIAN : false

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml

@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    fusion_distance: 100.0
+    trust_object_distance: 100.0
+    trust_object_iou_mode: "iou"
+    non_trust_object_iou_mode: "iou_x"
+    use_cluster_semantic_type: false
+    only_allow_inside_cluster: true
+    roi_scale_factor: 1.1
+    iou_threshold: 0.65
+    unknown_iou_threshold: 0.1
+    remove_unknown: false

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    # UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+    passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50]
+    trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
+    min_iou_threshold: 0.5
+    use_roi_probability: false
+    roi_probability_threshold: 0.5
+
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
+      [1,       0,   0,     0,   0,       0,         0,       0,         # UNKNOWN <-detected_objects
+       0,       1,   1,     1,   1,       0,         0,       0,         # CAR
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRUCK
+       0,       1,   1,     1,   1,       0,         0,       0,         # BUS
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRAILER
+       0,       0,   0,     0,   0,       1,         1,       1,         # MOTORBIKE
+       0,       0,   0,     0,   0,       1,         1,       1,         # BICYCLE
+       0,       0,   0,     0,   0,       1,         1,       1]         # PEDESTRIAN

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    fuse_unknown_only: true
+    min_cluster_size: 2
+    cluster_2d_tolerance: 0.5

autoware_launch/config/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

autoware_launch/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

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -16,6 +16,9 @@
     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
+    use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
+    speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
+    acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
@@ -32,6 +35,6 @@
         diff_dist_threshold_to_left_bound: 0.29 #[m]
         diff_dist_threshold_to_right_bound: -0.29 #[m]
       num_continuous_state_transition: 3
       consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]

autoware_launch/config/perception/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]

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:
@@ -109,7 +112,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "true"
+      default: "false"
 
   # parking modules
   - arg:

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

@@ -122,7 +122,8 @@
           motorcycle: true                               # [-]
           pedestrian: true                               # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 20.0                 # [m]
+        object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
         object_check_shiftable_ratio: 0.6               # [-]

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

@@ -38,6 +38,7 @@
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
+        detection_bound_offset: 15.0
 
       # pull over
       pull_over:

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

@@ -53,7 +53,7 @@
 
     goal_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1
@@ -67,7 +67,7 @@
       priority: 4
       max_module_size: 1
 
-    avoidance_by_lc:
+    avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

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

@@ -5,14 +5,15 @@
       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
       # shift pull out
       enable_shift_pull_out: true
-      check_shift_path_lane_departure: false
+      check_shift_path_lane_departure: true
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -31,7 +32,7 @@
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
-      max_back_distance: 30.0
+      max_back_distance: 20.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0

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

@@ -16,7 +16,7 @@
         # 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: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -38,7 +38,7 @@
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-        ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
@@ -50,19 +50,19 @@
           min_jerk: -1.0 # min jerk [m/sss]
           max_jerk: 1.0 # max jerk [m/sss]
 
-        stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
+        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)
         ## param for yielding
         disable_stop_for_yield_cancel: true # for 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: [3.0, 0.0] # [s]
-        timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
+        timeout_map_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.
 
       # param for target object filtering
       object_filtering:
-        crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
         vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
         target_object:
           unknown: true # [-] whether to look and stop by UNKNOWN objects

autoware_launch/config/planning/scenario_planning/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

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

@@ -12,6 +12,7 @@
         max_accel: -2.8
         max_jerk: -5.0
         delay_response_time: 0.5
+        enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
         turn_direction:
@@ -36,7 +37,6 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
-        keep_detection_velocity_threshold: 0.833
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
@@ -67,12 +67,12 @@
         occupied_min: 58
         denoise_kernel: 1.0
         attention_lane_crop_curvature_threshold: 0.25
-        attention_lane_curvature_calculation_ds: 0.5
+        attention_lane_curvature_calculation_ds: 0.6
         creep_during_peeking:
           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