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chore: sync awf/autoware_launch #219

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merged 3 commits into from
Aug 3, 2023
Merged

chore: sync awf/autoware_launch #219

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01cbb1a
feat(autoware_launch): add pass juge line parameter in crosswalk (#495)
takayuki5168 Aug 2, 2023
f0b212e
feat(autoware_launch): add gradable pass margin in crosswalk (#496)
takayuki5168 Aug 2, 2023
32d537b
fix(object_merger): separate GIoU (#497)
badai-nguyen Aug 2, 2023
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3 changes: 3 additions & 0 deletions .../config/perception/object_recognition/detection/object_merger/overlapped_judge.param.yaml
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Expand Up @@ -3,3 +3,6 @@
distance_threshold_list:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0] #UNKNOWN

generalized_iou_threshold:
[-0.1, -0.1,-0.1, -0.6, -0.6, -0.1, -0.1, -0.1]
7 changes: 5 additions & 2 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -36,10 +36,13 @@

# 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_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: [6.0] # [[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: 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_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: [10.0] # [[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)
ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
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
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