chore: sync beta branch beta/v0.33 with tier4/main

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -6,6 +6,7 @@
     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

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

@@ -75,4 +75,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
+    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -4,15 +4,13 @@
     system_emergency_heartbeat_timeout: 0.5
     use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: false
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
     emergency_acceleration: -2.4
     moderate_stop_service_acceleration: -1.5
-    stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -1,28 +1,21 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 9
-    # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: true
-    has_twist: true
-    trt_precision: fp16
-    cloud_capacity: 2000000
-    densification_num_past_frames: 1
-    densification_world_frame_id: map
 
     # weight files
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    cloud_capacity: 2000000
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1

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

@@ -50,3 +50,8 @@
       consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]
+
+    # debug parameters
+    publish_processing_time: true
+    publish_processing_time_detail: true
+    publish_debug_markers: true

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml

@@ -40,8 +40,8 @@
           name: "apollo"
           short_name: "Lap"
       # LIDAR-CAMERA - DNN
-      # cspell:ignore lidar_pointpainitng pointpainting
-      lidar_pointpainitng:
+      # cspell:ignore lidar_pointpainting pointpainting
+      lidar_pointpainting:
         topic: "/perception/object_recognition/detection/pointpainting/objects"
         can_spawn_new_tracker: true
         optional:

autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml

@@ -2,6 +2,7 @@
 /**:
   ros__parameters:
     base_link_frame_id: "base_link"
+    merge_frame_id: "map"
     time_sync_threshold: 0.999
     sub_object_timeout_sec: 0.8
     publish_interpolated_sub_objects: true #for debug

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

@@ -18,5 +18,5 @@
     use_parkinglot: true
     use_objects: true
     use_points: true
-    expand_polygon_size: 1.0
+    expand_polygon_size: 0.5
     size_of_expansion_kernel: 9

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

@@ -28,6 +28,7 @@
             hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.5                   # [m] FOR DEVELOPER
+          th_error_eclipse_long_radius : 0.6            # [m]
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -38,6 +39,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -48,6 +50,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -58,6 +61,7 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         unknown:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -68,6 +72,7 @@
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -78,6 +83,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
@@ -88,6 +94,7 @@
             hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -98,6 +105,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         lower_distance_for_polygon_expansion: 30.0      # [m] FOR DEVELOPER
         upper_distance_for_polygon_expansion: 100.0     # [m] FOR DEVELOPER
 
@@ -142,16 +150,16 @@
           # "auto"   : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically.
           # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode.
           # "ignore" : never avoid it.
-          policy: "auto"                                # [-]
+          policy: "manual"                              # [-]
           condition:
             th_stopped_time: 3.0                        # [s]
             th_moving_distance: 1.0                     # [m]
           ignore_area:
             traffic_light:
-              front_distance: 100.0                     # [m]
+              front_distance: 20.0                      # [m]
             crosswalk:
-              front_distance: 30.0                      # [m]
-              behind_distance: 30.0                     # [m]
+              front_distance: 20.0                      # [m]
+              behind_distance: 0.0                      # [m]
           wait_and_see:
             target_behaviors: ["MERGING", "DEVIATING"]  # [-]
             th_closest_distance: 10.0                   # [m]

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

@@ -36,7 +36,7 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        collision_check_soft_margins: [2.0, 1.5, 1.0]
+        collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  # the maximum margin when ego and objects are oriented.
         collision_check_hard_margins: [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
@@ -55,6 +55,7 @@
         maximum_jerk: 1.0
         path_priority: "efficient_path" # "efficient_path" or "close_goal"
         efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
+        lane_departure_check_expansion_margin: 0.0
 
         # shift parking
         shift_parking:
@@ -112,9 +113,11 @@
             use_back: true
             adapt_expansion_distance: true
             expansion_distance: 0.5
+            near_goal_distance: 3.0
             distance_heuristic_weight: 2.0
             smoothness_weight: 0.5
             obstacle_distance_weight: 1.75
+            goal_lat_distance_weight: 5.0
           # -- RRT* search Configurations --
           rrtstar:
             enable_update: true

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

@@ -6,7 +6,6 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
-      lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 
@@ -27,6 +26,11 @@
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0
 
+      skip_process:
+        longitudinal_distance_diff_threshold:
+          prepare: 1.0
+          lane_changing: 1.0
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
@@ -38,23 +42,31 @@
           rear_vehicle_safety_time_margin: 1.0
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          longitudinal_velocity_delta_time: 0.0
+        parked:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.0
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
           rear_vehicle_reaction_time: 1.5
           rear_vehicle_safety_time_margin: 0.8
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 2.5
-          longitudinal_velocity_delta_time: 0.6
+          longitudinal_velocity_delta_time: 0.0
         stuck:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
           rear_vehicle_reaction_time: 2.0
           rear_vehicle_safety_time_margin: 1.0
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          longitudinal_velocity_delta_time: 0.0
 
         # lane expansion for object filtering
         lane_expansion:
@@ -83,10 +95,10 @@
         general_lanes: false
         intersection: true
         turns: true
-      prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
+      stopped_object_velocity_threshold: 1.0 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false
-      use_all_predicted_path: true
+      use_all_predicted_path: false
 
       # lane change regulations
       regulation:
@@ -108,8 +120,11 @@
         max_lateral_jerk: 100.0             # [m/s3]
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
+        deceleration_sampling_num: 5 # [/]
 
-      finish_judge_lateral_threshold: 0.2        # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+      finish_judge_lateral_threshold: 0.1        # [m]
+      finish_judge_lateral_angle_deviation: 1.0 # [deg]
 
       # debug
       publish_debug_marker: true