Merge pull request autowarefoundation#554 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

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

@@ -0,0 +1,28 @@
+/**:
+  ros__parameters:
+    enable_delay_compensation: true
+    prediction_time_horizon: 7.8 #[s]
+    prediction_sampling_delta_time: 0.5 #[s]
+    min_velocity_for_map_based_prediction: 1.39 #[m/s]
+    min_crosswalk_user_velocity: 1.39 #[m/s]
+    dist_threshold_for_searching_lanelet: 3.0 #[m]
+    delta_yaw_threshold_for_searching_lanelet: 0.785 #[rad]
+    sigma_lateral_offset: 0.5 #[m]
+    sigma_yaw_angle_deg: 5.0 #[angle degree]
+    object_buffer_time_length: 2.0 #[s]
+    history_time_length: 1.0 #[s]
+
+    lane_change_detection:
+      method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
+      time_to_change_lane:
+        dist_threshold_for_lane_change_detection: 1.0 #[m]
+        time_threshold_for_lane_change_detection: 5.0 #[s]
+        cutoff_freq_of_velocity_for_lane_change_detection: 0.1 #[Hz]
+      lat_diff_distance:
+        dist_ratio_threshold_to_left_bound: -0.5 #[ratio]
+        dist_ratio_threshold_to_right_bound: 0.5 #[ratio
+        diff_dist_threshold_to_left_bound: 0.29 #[m]
+        diff_dist_threshold_to_right_bound: -0.29 #[m]
+      num_continuous_state_transition: 3
+
+    reference_path_resolution: 0.5 #[m]

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

@@ -47,7 +47,8 @@
       # collision check
       enable_prepare_segment_collision_check: false
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      use_predicted_path_outside_lanelet: true
+      check_objects_on_current_lanes: true
+      check_objects_on_other_lanes: true
       use_all_predicted_path: true
 
       # lane change cancel

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

@@ -40,6 +40,3 @@
         motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
         pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
 
-    walkway:
-      stop_duration_sec: 0.1 # [s] stop time at stop position
-      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists

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

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    walkway:
+      stop_duration_sec: 0.1 # [s] stop time at stop position
+      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -19,6 +19,9 @@
       output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
       output_backward_traj_length: 5.0  # backward length for backward trajectory from base_link [m]
 
+      vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
+                                                     # This margin will be realized with delta_arc_length_for_mpt_points m precision.
+
     # replanning & trimming trajectory param outside algorithm
     replan:
       max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -50,6 +50,10 @@
       name="object_recognition_detection_fusion_sync_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
+    <arg
+      name="object_recognition_prediction_map_based_prediction_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -52,6 +52,7 @@
       name="behavior_velocity_planner_module_param_paths"
       value="[$(var behavior_velocity_config_path)/blind_spot.param.yaml,
               $(var behavior_velocity_config_path)/crosswalk.param.yaml,
+              $(var behavior_velocity_config_path)/walkway.param.yaml,
               $(var behavior_velocity_config_path)/detection_area.param.yaml,
               $(var behavior_velocity_config_path)/intersection.param.yaml,
               $(var behavior_velocity_config_path)/stop_line.param.yaml,

autoware_launch/launch/components/tier4_simulator_component.launch.xml

@@ -27,6 +27,10 @@
     <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
 
     <arg name="fault_injection_param_path" value="$(find-pkg-share autoware_launch)/config/simulator/fault_injection.param.yaml"/>
+    <arg
+      name="object_recognition_prediction_map_based_prediction_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/prediction/map_based_prediction.param.yaml"
+    />
     <arg
       name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"