Merge pull request autowarefoundation#218 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    external_time_tolerance: 5.0
+    perception_time_tolerance: 1.0
+    external_priority: false

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

@@ -37,11 +37,14 @@
       # param for pass judge logic
       pass_judge:
         ego_pass_first_margin: 6.0 # [s] time margin 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: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         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)
         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: false
+        disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
+        disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
         timeout_no_intention_to_walk: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
         timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
 

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

@@ -2,7 +2,7 @@
   ros__parameters:
     intersection:
       common:
-        attention_area_margin: 0.5 # [m]
+        attention_area_margin: 0.75 # [m]
         attention_area_length: 200.0 # [m]
         attention_area_angle_threshold: 0.785 # [rad]
         stop_line_margin: 3.0
@@ -46,7 +46,8 @@
         min_vehicle_brake_for_rss: -2.5 # [m/s^2]
         max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
         denoise_kernel: 1.0 # [m]
-        possible_object_bbox: [1.0, 2.0] # [m x m]
+        possible_object_bbox: [1.5, 2.5] # [m x m]
+        ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval

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

@@ -16,6 +16,7 @@
         minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
         use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
                                    # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
+        predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
 
       overlap:
         minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -82,5 +82,8 @@
     <!-- occupancy grid map -->
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
+
+    <!-- traffic light recognition -->
+    <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
   </include>
 </launch>