Merge pull request autowarefoundation#193 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

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

@@ -9,6 +9,7 @@
     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
       lon_acc_lim: 5.0

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

@@ -28,7 +28,7 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          enable: true                                 # [-]
+          is_target: true                              # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -37,7 +37,7 @@
           safety_buffer_lateral: 0.7                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -46,7 +46,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -55,7 +55,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -64,7 +64,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
-          enable: true
+          is_target: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -73,7 +73,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
-          enable: true
+          is_target: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -82,7 +82,7 @@
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -91,7 +91,7 @@
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
-          enable: true
+          is_target: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -104,12 +104,12 @@
 
       # For target object filtering
       target_filtering:
-        # filtering moving objects
-        threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
+        # params for avoidance of not-parked objects
+        threshold_time_force_avoidance_for_stopped_vehicle: 10.0    # [s]
+        object_ignore_section_traffic_light_in_front_distance: 30.0 # [m]
+        object_ignore_section_crosswalk_in_front_distance: 30.0     # [m]
+        object_ignore_section_crosswalk_behind_distance: 30.0       # [m]
         # detection range
-        object_ignore_distance_traffic_light: 30.0      # [m]
-        object_ignore_distance_crosswalk_forward: 30.0  # [m]
-        object_ignore_distance_crosswalk_backward: 30.0 # [m]
         object_check_forward_distance: 150.0            # [m]
         object_check_backward_distance: 10.0            # [m]
         object_check_goal_distance: 20.0                # [m]
@@ -132,7 +132,6 @@
       avoidance:
         # avoidance lateral parameters
         lateral:
-          lateral_collision_margin: 1.0                 # [m]
           lateral_execution_threshold: 0.499            # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           road_shoulder_safety_margin: 0.3              # [m]

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

@@ -47,16 +47,17 @@
       # collision check
       enable_prepare_segment_collision_check: false
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      use_predicted_path_outside_lanelet: false
-      use_all_predicted_path: false
+      use_predicted_path_outside_lanelet: true
+      use_all_predicted_path: true
 
-      # abort
-      enable_cancel_lane_change: true
-      enable_abort_lane_change: false
-
-      abort_delta_time: 1.0                     # [s]
-      aborting_time: 5.0                        # [s]
-      abort_max_lateral_jerk: 100.0             # [m/s3]
+      # lane change cancel
+      cancel:
+        enable_on_prepare_phase: true
+        enable_on_lane_changing_phase: true
+        delta_time: 1.0                     # [s]
+        duration: 5.0                       # [s]
+        max_lateral_jerk: 100.0             # [m/s3]
+        overhang_tolerance: 0.0             # [m]
 
       finish_judge_lateral_threshold: 0.2        # [m]
 

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -2,7 +2,7 @@
 <launch>
   <!-- NOTE: optional parameters are written here -->
   <!-- behavior -->
-  <arg name="use_experimental_lane_change_function" default="false"/>
+  <arg name="use_experimental_lane_change_function" default="true"/>
   <!-- motion -->
   <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="true"/>