Merge remote-tracking branch 'origin/beta/v3.1.0' into sync-beta/v3.1.0

Author: TomohitoAndo

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

@@ -16,11 +16,11 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      reference_speed_points: [0.1, 0.2, 20.0, 30.0]
+      reference_speed_points: [0.1, 0.3, 20.0, 30.0]
       steer_lim: [1.0, 1.0, 1.0, 0.8]
       steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
       lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
-      lon_jerk_lim: [5.0, 5.0, 5.0, 4.0]
+      lon_jerk_lim: [80.0, 5.0, 5.0, 4.0]
       lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
       lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
       actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -42,5 +42,5 @@
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)
-      threshold_observable_velocity_mps: 0.5 # [m/s]
+      threshold_observable_velocity_mps: 0.0 # [m/s]
       pose_frame_id: "map"

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

@@ -23,9 +23,9 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.2                            # [m]
+            soft_margin: 0.7                            # [m]
             hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.7         # [m]
+            hard_margin_for_parked_vehicle: 0.2         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -34,9 +34,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.2
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.2
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.2
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -261,7 +261,7 @@
 
       # For stop maneuver
       stop:
-        max_distance: 20.0                              # [m]
+        max_distance: 30.0                              # [m]
         stop_buffer: 1.0                                # [m] FOR DEVELOPER
 
       policy:
@@ -274,7 +274,7 @@
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.
         # "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
         #             make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
-        deceleration: "reliable"                        # [-]
+        deceleration: "best_effort"                        # [-]
         # policy for avoidance lateral margin. select "best_effort" or "reliable".
         # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
         #                margin to avoid.

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

@@ -16,8 +16,8 @@
         arc_length_range: 2.0  # [m] arc length range where an expansion distance is initially applied
       ego:
         extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
-        extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
-        extra_width: 1.0 # [m] extra length to add to the width
+        extra_front_overhang: 0.0 # [m] extra length to add to the front overhang
+        extra_width: 0.0 # [m] extra length to add to the width
       dynamic_objects:
         avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
         extra_footprint_offset:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml

@@ -1,34 +1,24 @@
 /**:
   ros__parameters:
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
-      mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
+      mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
       skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
       ignore_overlaps_over_lane_changeable_lanelets: true  # if true, overlaps on lane changeable lanelets are ignored
+      max_arc_length: 100.0  # [m] maximum trajectory arc length that is checked for out_of_lane collisions
 
       threshold:
         time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
-      intervals:  # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
-        ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
-        objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
       ttc:
-        threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
+        threshold: 1.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
 
       objects:
         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.
-        distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
         cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
         ignore_behind_ego: true # if true, objects behind the ego vehicle are ignored
 
-      overlap:
-        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
-        extra_length: 0.0  # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
-
-      action:  # action to insert in the path if an object causes a conflict at an overlap
-        skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
-        precision: 0.1  # [m] precision when inserting a stop pose in the path
+      action:  # action to insert in the trajectory if an object causes a conflict at an overlap
+        precision: 0.1  # [m] precision when inserting a stop pose in the trajectory
         longitudinal_distance_buffer: 1.5  # [m] safety distance buffer to keep in front of the ego vehicle
         lateral_distance_buffer: 1.0  # [m] safety distance buffer to keep on the side of the ego vehicle
         min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
@@ -39,8 +29,8 @@
           distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
 
       ego:
-        min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
-        extra_front_offset: 0.0 # [m] extra front distance
-        extra_rear_offset: 0.0 # [m] extra rear distance
-        extra_right_offset: 0.0 # [m] extra right distance
-        extra_left_offset: 0.0 # [m] extra left distance
+        # extra footprint offsets to calculate out of lane collisions
+        extra_front_offset: 0.0 # [m] extra footprint front distance
+        extra_rear_offset: 0.0 # [m] extra footprint rear distance
+        extra_right_offset: 0.0 # [m] extra footprint right distance
+        extra_left_offset: 0.0 # [m] extra footprint left distance

autoware_launch/config/simulator/fault_injection.param.yaml

@@ -191,3 +191,4 @@
       OTHERS-005/left_upper: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation"
       OTHERS-010: "emergency_vehicle_detector: emergency_vehicle"
       OTHERS-011: "daytime_monitor: daytime_status"
+      OTHERS-012: "vehicle_stuck_checker: vehicle_stuck_check"

autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml

@@ -29,13 +29,13 @@ units:
       - { type: link, link: /sensing/lidar/pndr/002-temperature-error }
       - { type: link, link: /sensing/lidar/pndr/003-ptp }
       - { type: link, link: /sensing/camera/001-connection }
-      - { type: link, link: /sensing/radar/001-connection }
+      # - { type: link, link: /sensing/radar/001-connection }
 
   - path: /sensing/pull_over
     type: and
     list:
       - { type: link, link: /sensing/lidar/pndr/002-temperature }
-      - { type: link, link: /sensing/gnss/001-connection-error }
+      # - { type: link, link: /sensing/gnss/001-connection-error }
 
   - path: /sensing/comfortable_stop
     type: and
@@ -126,7 +126,6 @@ units:
     type: diag
     node: imu_monitor
     name: yaw_rate_status
-    type: diag
     timeout: 5.0
   - path: /sensing/imu/002-connection
     type: diag

autoware_launch/launch/autoware.launch.xml

@@ -45,7 +45,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
-  <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
+  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
   <!-- Auto mode setting-->

autoware_launch/launch/autoware.main.launch.xml

@@ -45,7 +45,7 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
-  <arg name="perception_mode" default="camera_lidar_radar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
+  <arg name="perception_mode" default="camera_lidar_fusion" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
   <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
   <!-- Auto mode setting-->