Merge pull request #530 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.32.0 with tier4/main

.github/CODEOWNERS

@@ -5,20 +5,20 @@ autoware_launch/** [email protected] [email protected] yukihiro.saito@ti
 # /**
 # .github/**
 autoware_launch/** [email protected] [email protected] [email protected]
-autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/perception/** [email protected] [email protected] [email protected]
-autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
-autoware_launch/config/vehicle/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/vehicle/** [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_autoware_api_component.launch.xml [email protected]
-autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_system_component.launch.xml [email protected] [email protected] [email protected] [email protected]

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

@@ -2,14 +2,14 @@
   ros__parameters:
     # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: false
+    use_imu_path: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_horizon: 4.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
@@ -29,7 +29,7 @@
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
-    cluster_minimum_height: 0.0
+    cluster_minimum_height: 0.1
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 

autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
     #  the next predicted_path is valid.)
@@ -10,3 +9,5 @@
 
     thresholds:
       max_distance_deviation: 1.0
+      max_reverse_velocity: 0.2
+      max_over_velocity_ratio: 0.1

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

@@ -53,12 +53,11 @@
 
     # stopped state
     stopped_vel: 0.0
-    stopped_acc: -3.4
-    stopped_jerk: -5.0
+    stopped_acc: -3.4 # denotes pedal position
 
     # emergency state
     emergency_vel: 0.0
-    emergency_acc: -5.0
+    emergency_acc: -5.0 # denotes acceleration
     emergency_jerk: -3.0
 
     # acceleration limit
@@ -68,6 +67,7 @@
     # jerk limit
     max_jerk: 2.0
     min_jerk: -5.0
+    max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]
 
     # slope compensation
     lpf_pitch_gain: 0.95

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

@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true
@@ -16,14 +16,14 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      reference_speed_points: [20.0, 30.0]
-      steer_lim: [1.0, 0.8]
-      steer_rate_lim: [1.0, 0.8]
-      lon_acc_lim: [5.0, 4.0]
-      lon_jerk_lim: [5.0, 4.0]
-      lat_acc_lim: [5.0, 4.0]
-      lat_jerk_lim: [7.0, 6.0]
-      actual_steer_diff_lim: [1.0, 0.8]
+      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: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting.
+      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]
     on_transition:
       vel_lim: 50.0
       reference_speed_points: [20.0, 30.0]

autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml

@@ -117,7 +117,10 @@
         initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
 
         # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance
-        temperature: 0.1
+        temperature: 0.05
+
+        # Scale value for adjusting the estimated covariance by a constant multiplication
+        scale_factor: 1.0
 
 
     dynamic_map_loading:

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

@@ -7,7 +7,7 @@
     activate_by_scenario: False
     grid_min_value: 0.0
     grid_max_value: 1.0
-    grid_resolution: 0.2
+    grid_resolution: 0.3
     grid_length_x: 70.0
     grid_length_y: 70.0
     grid_position_x: 0.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml

@@ -58,7 +58,7 @@
         lat_offset_from_obstacle: 1.0 # [m]
         margin_distance_around_pedestrian: 2.0 # [m]
         predicted_path:
-          end_time_to_consider: 3.0 # [s]
+          end_time_to_consider: 2.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]

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

@@ -243,6 +243,8 @@
       # For cancel maneuver
       cancel:
         enable: true                                    # [-]
+        force:
+          duration_time: 2.0                            # [s]
 
       # For yield maneuver
       yield:

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

@@ -10,6 +10,7 @@
       enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+      min_bound_interval: 1.0  # [m] minimum interval between two consecutive bound points (before expansion)
       smoothing:
         curvature_average_window: 3  # window size used for smoothing the curvatures using a moving window average
         max_bound_rate: 1.0  # [m/m] maximum rate of change of the bound lateral distance over its arc length

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

@@ -91,25 +91,30 @@
           velocity: 1.0
           vehicle_shape_margin: 1.0
           time_limit: 3000.0
-          minimum_turning_radius: 5.0
-          maximum_turning_radius: 5.0
-          turning_radius_size: 1
+          max_turning_ratio: 0.5
+          turning_steps: 1
           # search configs
           search_configs:
-            theta_size: 144
+            theta_size: 120
             angle_goal_range: 6.0
-            curve_weight: 1.2
-            reverse_weight: 1.0
             lateral_goal_range: 0.5
             longitudinal_goal_range: 2.0
+            curve_weight: 0.5
+            reverse_weight: 1.0
+            direction_change_weight: 1.5
           # costmap configs
           costmap_configs:
             obstacle_threshold: 30
           # -- A* search Configurations --
           astar:
+            search_method: "forward"  # options: forward, backward
             only_behind_solutions: false
-            use_back: false
-            distance_heuristic_weight: 1.0
+            use_back: true
+            adapt_expansion_distance: true
+            expansion_distance: 0.5
+            distance_heuristic_weight: 2.0
+            smoothness_weight: 0.5
+            obstacle_distance_weight: 1.75
           # -- RRT* search Configurations --
           rrtstar:
             enable_update: true

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

@@ -32,6 +32,7 @@
       minimum_lateral_acc: 0.15
       maximum_lateral_acc: 0.5
       maximum_curvature: 0.07
+      end_pose_curvature_threshold: 0.1
       # geometric pull out
       enable_geometric_pull_out: true
       geometric_collision_check_distance_from_end: 0.0
@@ -61,25 +62,30 @@
         velocity: 1.0
         vehicle_shape_margin: 1.0
         time_limit: 3000.0
-        minimum_turning_radius: 5.0
-        maximum_turning_radius: 5.0
-        turning_radius_size: 1
+        max_turning_ratio: 0.7
+        turning_steps: 1
         # search configs
         search_configs:
-          theta_size: 144
+          theta_size: 120
           angle_goal_range: 6.0
-          curve_weight: 1.2
-          reverse_weight: 1.0
           lateral_goal_range: 0.5
           longitudinal_goal_range: 2.0
+          curve_weight: 0.5
+          reverse_weight: 1.0
+          direction_change_weight: 1.5
         # costmap configs
         costmap_configs:
           obstacle_threshold: 30
         # -- A* search Configurations --
         astar:
+          search_method: "forward"  # options: forward, backward
           only_behind_solutions: false
-          use_back: false
-          distance_heuristic_weight: 1.0
+          use_back: true
+          adapt_expansion_distance: true
+          expansion_distance: 0.5
+          distance_heuristic_weight: 2.0
+          smoothness_weight: 0.5
+          obstacle_distance_weight: 1.75
         # -- RRT* search Configurations --
         rrtstar:
           enable_update: true

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

@@ -38,7 +38,7 @@
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-        ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [4.0] # [[s]] time to vehicle margin vector 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_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)

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

@@ -20,6 +20,7 @@
         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: false # 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
@@ -28,7 +29,8 @@
       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
-        distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
+        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
         slowdown:
           distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap

autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml

@@ -16,27 +16,29 @@
     # base configs
     time_limit: 30000.0
     # robot configs # TODO replace by vehicle_info
-    robot_length: 4.5
-    robot_width: 1.75
-    robot_base2back: 1.0
-    minimum_turning_radius: 9.0
-    maximum_turning_radius: 9.0
-    turning_radius_size: 1
+    max_turning_ratio: 0.5 # ratio of actual turning limit of vehicle
+    turning_steps: 1
     # search configs
-    theta_size: 144
+    theta_size: 120
     angle_goal_range: 6.0
-    curve_weight: 1.2
-    reverse_weight: 2.0
     lateral_goal_range: 0.5
-    longitudinal_goal_range: 2.0
+    longitudinal_goal_range: 1.0
+    curve_weight: 0.5
+    reverse_weight: 0.7
+    direction_change_weight: 2.0
     # costmap configs
     obstacle_threshold: 100
 
     # -- A* search Configurations --
     astar:
+      search_method: "forward"  # options: forward, backward
       only_behind_solutions: false
       use_back: true
-      distance_heuristic_weight: 1.0
+      adapt_expansion_distance: true
+      expansion_distance: 0.5
+      distance_heuristic_weight: 2.0
+      smoothness_weight: 0.5
+      obstacle_distance_weight: 1.75
 
     # -- RRT* search Configurations --
     rrtstar:

autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml

@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     update_rate: 30
-    target_acceleration: -2.5
-    target_jerk: -1.5
+    target_acceleration: -3.0
+    target_jerk: -3.0

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -12,6 +12,7 @@
   <arg name="vehicle_model"/>
   <arg name="initial_engage_state"/>
   <arg name="vehicle_info_param_file"/>
+  <arg name="raw_vehicle_cmd_converter_param_path"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
 
   <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
@@ -27,6 +28,7 @@
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
     <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
+    <arg name="raw_vehicle_cmd_converter_param_path" value="$(var raw_vehicle_cmd_converter_param_path)"/>
 
     <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
     <arg

autoware_launch/launch/e2e_simulator.launch.xml

@@ -41,7 +41,7 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
   <group scoped="false" if="$(eval '\'$(var simulator_type)\' == \'carla\'')">
-    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+    <include file="$(find-pkg-share autoware_carla_interface)/autoware_carla_interface.launch.xml"/>
   </group>
 
   <group scoped="false">

autoware_launch/launch/planning_simulator.launch.xml

@@ -97,6 +97,7 @@
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
       <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
     </include>
   </group>
 </launch>