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tier4-autoware-public-bot[bot]tier4-autoware-public-bot[bot]
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Merge pull request #591 from tier4/beta-to-tier4-main-sync
chore: sync beta branch beta/v0.34 with tier4/main
2 parents 729924b + 6ff2653 commit bbac9e3

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19 files changed

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lines changed

‎autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

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@@ -60,6 +60,10 @@
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emergency_acc: -5.0 # denotes acceleration
6161
emergency_jerk: -3.0
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63+
# acceleration feedback
64+
lpf_acc_error_gain: 0.98
65+
acc_feedback_gain: 0.0
66+
6367
# acceleration limit
6468
max_acc: 3.0
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min_acc: -5.0

‎autoware_launch/config/localization/ekf_localizer.param.yaml

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@@ -30,8 +30,8 @@
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simple_1d_filter_parameters:
3131
#Simple1DFilter parameters
3232
z_filter_proc_dev: 1.0
33-
roll_filter_proc_dev: 0.01
34-
pitch_filter_proc_dev: 0.01
33+
roll_filter_proc_dev: 0.1
34+
pitch_filter_proc_dev: 0.1
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diagnostics:
3737
# for diagnostics

‎autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml

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1+
/**:
2+
ros__parameters:
3+
4+
# marker name
5+
marker_name: "reflector"
6+
7+
# for marker detection algorithm
8+
resolution: 0.05
9+
# A sequence of high/low intensity to perform pattern matching.
10+
# 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)
11+
intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1]
12+
match_intensity_difference_threshold: 20
13+
positive_match_num_threshold: 3
14+
negative_match_num_threshold: 3
15+
vote_threshold_for_detect_marker: 20
16+
marker_height_from_ground: 1.075
17+
18+
# for interpolate algorithm
19+
self_pose_timeout_sec: 1.0
20+
self_pose_distance_tolerance_m: 1.0
21+
22+
# for validation
23+
limit_distance_from_self_pose_to_nearest_marker: 2.0
24+
limit_distance_from_self_pose_to_marker: 2.0
25+
26+
# base_covariance
27+
# [TBD] This value is dynamically scaled according to the distance at which markers are detected.
28+
base_covariance: [0.04, 0.0, 0.0, 0.0, 0.0, 0.0,
29+
0.0, 0.04, 0.0, 0.0, 0.0, 0.0,
30+
0.0, 0.0, 0.01, 0.0, 0.0, 0.0,
31+
0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0,
32+
0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0,
33+
0.0, 0.0, 0.0, 0.0, 0.0, 0.00030625]
34+
35+
# for visualize the detected marker pointcloud
36+
marker_width: 0.8
37+
38+
# for save log
39+
enable_save_log: false
40+
save_file_directory_path: detected_reflector_intensity
41+
save_file_name: detected_reflector_intensity
42+
save_frame_id: velodyne_top

‎autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml

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/**:
2+
ros__parameters:
3+
input_frame: "base_link"
4+
output_frame: "base_link"
5+
min_x: -10.0
6+
max_x: 10.0
7+
min_y: 0.0
8+
max_y: 7.5
9+
min_z: -5.0
10+
max_z: 5.0
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negative: False

‎autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml

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/**:
2+
ros__parameters:
3+
input_frame: "base_link"
4+
output_frame: "base_link"
5+
filter_field_name: "channel"
6+
filter_limit_min: 5
7+
filter_limit_max: 45
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filter_limit_negative: False
9+
keep_organized: False

‎autoware_launch/config/localization/stop_filter.param.yaml

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/**:
2+
ros__parameters:
3+
vx_threshold: 0.1 # [m/s]
4+
wz_threshold: 0.02 # [rad/s]

‎autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml

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/**:
2+
ros__parameters:
3+
filter_target_label:
4+
UNKNOWN : true
5+
CAR : false
6+
TRUCK : false
7+
BUS : false
8+
TRAILER : false
9+
MOTORCYCLE : false
10+
BICYCLE : false
11+
PEDESTRIAN : false
12+
13+
filter_settings:
14+
# polygon overlap based filter
15+
polygon_overlap_filter:
16+
enabled: true
17+
# velocity direction based filter
18+
lanelet_direction_filter:
19+
enabled: false
20+
velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
21+
object_speed_threshold: 3.0 # [m/s]

‎autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml

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/**:
2+
ros__parameters:
3+
filter_target_label:
4+
UNKNOWN : true
5+
CAR : false
6+
TRUCK : false
7+
BUS : false
8+
TRAILER : false
9+
MOTORCYCLE : false
10+
BICYCLE : false
11+
PEDESTRIAN : false
12+
13+
upper_bound_x: 100.0
14+
lower_bound_x: 0.0
15+
upper_bound_y: 10.0
16+
lower_bound_y: -10.0

‎autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

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@@ -2,14 +2,15 @@
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ros__parameters:
33
min_points_num:
44
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
5-
[10, 10, 10, 10, 10,10, 10, 10]
5+
[10, 10, 10, 10, 10, 10, 10, 10]
66

77
max_points_num:
88
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
9-
[10, 10, 10, 10, 10,10, 10, 10]
9+
[10, 10, 10, 10, 10, 10, 10, 10]
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1111
min_points_and_distance_ratio:
12-
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
13-
[800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0]
12+
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
13+
[800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0]
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1515
using_2d_validator: true
16+
enable_debugger: false

‎autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml

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1+
/**:
2+
ros__parameters:
3+
mean_threshold: 0.6
4+
enable_debug: false

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

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1+
/**:
2+
ros__parameters:
3+
# network
4+
trt_precision: fp16
5+
cloud_capacity: 2000000
6+
onnx_path: "$(var model_path)/transfusion.onnx"
7+
engine_path: "$(var model_path)/transfusion.engine"
8+
# pre-process params
9+
densification_num_past_frames: 1
10+
densification_world_frame_id: map
11+
# post-process params
12+
circle_nms_dist_threshold: 0.5
13+
iou_nms_target_class_names: ["CAR"]
14+
iou_nms_search_distance_2d: 10.0
15+
iou_nms_threshold: 0.1
16+
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names
17+
score_threshold: 0.1

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

+1-1
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@@ -7,7 +7,7 @@
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unknown: 10.0 #[s]
88
lateral_control_time_horizon: 5.0 #[s]
99
prediction_sampling_delta_time: 0.5 #[s]
10-
min_velocity_for_map_based_prediction: 1.39 #[m/s]
10+
min_velocity_for_map_based_prediction: 1.0 #[m/s]
1111
min_crosswalk_user_velocity: 1.39 #[m/s]
1212
max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s]
1313
dist_threshold_for_searching_lanelet: 3.0 #[m]

‎autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml

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1+
/**:
2+
ros__parameters:
3+
radius_search_2d_filter.search_radius: 1.0
4+
radius_search_2d_filter.min_points_and_distance_ratio: 400.0
5+
radius_search_2d_filter.min_points: 4
6+
radius_search_2d_filter.max_points: 70
7+
radius_search_2d_filter.max_filter_points_nb: 15000
8+
map_frame: "map"
9+
base_link_frame: "base_link"
10+
cost_threshold: 45
11+
use_radius_search_2d_filter: true
12+
enable_debugger: false

‎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

+9-9
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@@ -23,44 +23,44 @@
2323
th_moving_time: 2.0 # [s]
2424
longitudinal_margin: 0.0 # [m]
2525
lateral_margin:
26-
soft_margin: 0.3 # [m]
26+
soft_margin: 0.7 # [m]
2727
hard_margin: 0.2 # [m]
2828
hard_margin_for_parked_vehicle: 0.7 # [m]
2929
max_expand_ratio: 0.0 # [-] FOR DEVELOPER
30-
envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER
30+
envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER
3131
th_error_eclipse_long_radius : 0.6 # [m]
3232
truck:
3333
th_moving_speed: 1.0
3434
th_moving_time: 2.0
3535
longitudinal_margin: 0.0
3636
lateral_margin:
37-
soft_margin: 0.3
37+
soft_margin: 0.7
3838
hard_margin: 0.2
3939
hard_margin_for_parked_vehicle: 0.7
4040
max_expand_ratio: 0.0
41-
envelope_buffer_margin: 0.5
41+
envelope_buffer_margin: 0.1
4242
th_error_eclipse_long_radius : 0.6
4343
bus:
4444
th_moving_speed: 1.0
4545
th_moving_time: 2.0
4646
longitudinal_margin: 0.0
4747
lateral_margin:
48-
soft_margin: 0.3
48+
soft_margin: 0.7
4949
hard_margin: 0.2
5050
hard_margin_for_parked_vehicle: 0.7
5151
max_expand_ratio: 0.0
52-
envelope_buffer_margin: 0.5
52+
envelope_buffer_margin: 0.1
5353
th_error_eclipse_long_radius : 0.6
5454
trailer:
5555
th_moving_speed: 1.0
5656
th_moving_time: 2.0
5757
longitudinal_margin: 0.0
5858
lateral_margin:
59-
soft_margin: 0.3
59+
soft_margin: 0.7
6060
hard_margin: 0.2
6161
hard_margin_for_parked_vehicle: 0.7
6262
max_expand_ratio: 0.0
63-
envelope_buffer_margin: 0.5
63+
envelope_buffer_margin: 0.1
6464
th_error_eclipse_long_radius : 0.6
6565
unknown:
6666
th_moving_speed: 0.28
@@ -232,7 +232,7 @@
232232
# avoidance distance parameters
233233
longitudinal:
234234
min_prepare_time: 1.0 # [s]
235-
max_prepare_time: 2.0 # [s]
235+
max_prepare_time: 3.0 # [s]
236236
min_prepare_distance: 1.0 # [m]
237237
min_slow_down_speed: 1.38 # [m/s]
238238
buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER

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

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11
/**:
22
ros__parameters:
33
out_of_lane: # module to stop or slowdown before overlapping another lane with other objects
4-
mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
4+
mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
55
skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
66
ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored
7+
max_arc_length: 100.0 # [m] maximum trajectory arc length that is checked for out_of_lane collisions
78

89
threshold:
910
time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time
10-
intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
11-
ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
12-
objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
1311
ttc:
14-
threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
12+
threshold: 1.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
1513

1614
objects:
1715
minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored
18-
use_predicted_paths: true # if true, use the predicted paths to estimate future positions.
19-
# if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
2016
predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
21-
distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
2217
cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
2318
ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored
2419

25-
overlap:
26-
minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered
27-
extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
28-
29-
action: # action to insert in the path if an object causes a conflict at an overlap
30-
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
31-
precision: 0.1 # [m] precision when inserting a stop pose in the path
20+
action: # action to insert in the trajectory if an object causes a conflict at an overlap
21+
precision: 0.1 # [m] precision when inserting a stop pose in the trajectory
3222
longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle
3323
lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle
3424
min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
@@ -39,8 +29,8 @@
3929
distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
4030

4131
ego:
42-
min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
43-
extra_front_offset: 0.0 # [m] extra front distance
44-
extra_rear_offset: 0.0 # [m] extra rear distance
45-
extra_right_offset: 0.0 # [m] extra right distance
46-
extra_left_offset: 0.0 # [m] extra left distance
32+
# extra footprint offsets to calculate out of lane collisions
33+
extra_front_offset: 0.0 # [m] extra footprint front distance
34+
extra_rear_offset: 0.0 # [m] extra footprint rear distance
35+
extra_right_offset: 0.0 # [m] extra footprint right distance
36+
extra_left_offset: 0.0 # [m] extra footprint left distance

‎autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml

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@@ -26,3 +26,8 @@
2626
max_d: 0.0
2727
min_d: 0.0
2828
invalid_integration_decay: 0.97
29+
convert_steer_cmd_method: "vgr" # "vgr" or "steer_map"
30+
vgr_coef_a: 15.713
31+
vgr_coef_b: 0.053
32+
vgr_coef_c: 0.042
33+
convert_actuation_to_steering_status: false

‎autoware_launch/launch/components/tier4_localization_component.launch.xml

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@@ -19,6 +19,7 @@
1919
<!-- parameter paths for common -->
2020
<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
2121
<arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
22+
<arg name="stop_filter_param_path" value="$(var loc_config_path)/stop_filter.param.yaml"/>
2223
<arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
2324
<arg name="twist2accel_param_path" value="$(var loc_config_path)/twist2accel.param.yaml"/>
2425

@@ -51,6 +52,14 @@
5152
<!-- parameter paths for eagleye -->
5253
<arg name="eagleye_param_path" value="$(find-pkg-share autoware_launch)/config/localization/eagleye_config.param.yaml"/>
5354

55+
<!-- parameter paths for lidar_marker_localizer -->
56+
<arg name="lidar_marker_localizer/lidar_marker_localizer_param_path" value="$(var loc_config_path)/lidar_marker_localizer/lidar_marker_localizer.param.yaml"/>
57+
<arg
58+
name="lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"
59+
value="$(var loc_config_path)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"
60+
/>
61+
<arg name="lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path" value="$(var loc_config_path)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml"/>
62+
5463
<!-- parameter path for ar_tag_based_localizer -->
5564
<arg name="ar_tag_based_localizer_param_path" value="$(var loc_config_path)/ar_tag_based_localizer.param.yaml"/>
5665
</include>

‎autoware_launch/launch/e2e_simulator.launch.xml

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@@ -37,6 +37,8 @@
3737
default="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml"
3838
description="system error monitor param path"
3939
/>
40+
<!-- Sensing -->
41+
<arg name="launch_sensing_driver" default="false"/>
4042
<!-- Tools -->
4143
<arg name="rviz" default="true" description="launch rviz"/>
4244
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -74,7 +76,7 @@
7476
<arg name="system_error_monitor_param_path" value="$(var system_error_monitor_param_path)"/>
7577
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
7678
<!-- Sensing -->
77-
<arg name="launch_sensing_driver" value="false"/>
79+
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
7880
<!-- Perception-->
7981
<arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
8082
<arg name="namespace1" value="$(var traffic_light_namespace)"/>

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