Merge pull request autowarefoundation#812 from tier4/hotfix/v0.44.5/avoidance

fix(avoidance): cherry pick PRs for avoidance module

Author: shmpwk

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

@@ -31,80 +31,96 @@
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
-          avoid_margin_lateral: 0.7                    # [m]
-          safety_buffer_lateral: 0.3                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bus:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         trailer:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
+          lateral_margin:
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.9
-          safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         unknown:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: -0.2                          # [m]
+            hard_margin_for_parked_vehicle: -0.2       # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: true
         bicycle:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         motorcycle:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.3                           # [m]
+            hard_margin_for_parked_vehicle: 0.3        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.3
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         pedestrian:
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
+          lateral_margin:
+            soft_margin: 0.7                           # [m]
+            hard_margin: 0.5                           # [m]
+            hard_margin_for_parked_vehicle: 0.5        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
           use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]
@@ -140,7 +156,7 @@
           backward_distance: 10.0                        # [m]
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
-        force_avoidance:
+        avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
           time_threshold: 3.0                            # [s]
           distance_threshold: 1.0                        # [m]
@@ -178,7 +194,7 @@
         check_all_predicted_path: false                  # [-]
         safety_check_backward_distance: 100.0            # [m]
         hysteresis_factor_expand_rate: 1.5               # [-]
-        hysteresis_factor_safe_count: 10                 # [-]
+        hysteresis_factor_safe_count: 3                  # [-]
         # predicted path parameters
         min_velocity: 1.38                               # [m/s]
         max_velocity: 50.0                               # [m/s]
@@ -193,7 +209,7 @@
         rear_vehicle_safety_time_margin: 1.0             # [s]
         lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
-        longitudinal_velocity_delta_time: 0.8            # [s]
+        longitudinal_velocity_delta_time: 0.0            # [s]
 
       # For avoidance maneuver
       avoidance:

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

@@ -12,65 +12,81 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 0.0                    # [m]
-          safety_buffer_lateral: 0.0                   # [m]
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
           is_target: false
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 0.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 0.0                           # [m]
+            hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.0
+          lateral_margin:
+            soft_margin: 0.0                           # [m]
+            hard_margin: 1.0                           # [m]
+            hard_margin_for_parked_vehicle: 1.0        # [m]
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]