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tier4-autoware-private-bot[bot]tier4-autoware-private-bot[bot]
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Merge pull request autowarefoundation#963 from tier4/sync-tier4-upstream
chore: sync upstream
2 parents 5de4076 + aafaf57 commit e8d84eb

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30 files changed

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lines changed

‎autoware_launch/config/control/trajectory_follower/1/longitudinal/pid.param.yaml

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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/control/trajectory_follower/10/longitudinal/pid.param.yaml

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@@ -61,6 +61,10 @@
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emergency_jerk: -3.0
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64+
# acceleration feedback
65+
lpf_acc_error_gain: 0.98
66+
acc_feedback_gain: 0.0
67+
6468
# acceleration limit
6569
max_acc: 3.0
6670
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/2/longitudinal/pid.param.yaml

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@@ -59,6 +59,10 @@
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emergency_vel: 0.0
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emergency_acc: -5.0 # denotes acceleration
6161

62+
# acceleration feedback
63+
lpf_acc_error_gain: 0.98
64+
acc_feedback_gain: 0.0
65+
6266
# acceleration limit
6367
max_acc: 3.0
6468
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/3/longitudinal/pid.param.yaml

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emergency_jerk: -3.0
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64+
# acceleration feedback
65+
lpf_acc_error_gain: 0.98
66+
acc_feedback_gain: 0.0
67+
6468
# acceleration limit
6569
max_acc: 3.0
6670
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/4/longitudinal/pid.param.yaml

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@@ -61,6 +61,10 @@
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emergency_jerk: -3.0
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64+
# acceleration feedback
65+
lpf_acc_error_gain: 0.98
66+
acc_feedback_gain: 0.0
67+
6468
# acceleration limit
6569
max_acc: 3.0
6670
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/5/longitudinal/pid.param.yaml

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@@ -61,6 +61,10 @@
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emergency_jerk: -3.0
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64+
# acceleration feedback
65+
lpf_acc_error_gain: 0.98
66+
acc_feedback_gain: 0.0
67+
6468
# acceleration limit
6569
max_acc: 3.0
6670
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/6/longitudinal/pid.param.yaml

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@@ -61,6 +61,10 @@
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emergency_jerk: -3.0
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64+
# acceleration feedback
65+
lpf_acc_error_gain: 0.98
66+
acc_feedback_gain: 0.0
67+
6468
# acceleration limit
6569
max_acc: 3.0
6670
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/7/longitudinal/pid.param.yaml

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@@ -61,6 +61,10 @@
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emergency_jerk: -3.0
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64+
# acceleration feedback
65+
lpf_acc_error_gain: 0.98
66+
acc_feedback_gain: 0.0
67+
6468
# acceleration limit
6569
max_acc: 3.0
6670
min_acc: -5.0

‎autoware_launch/config/control/trajectory_follower/9/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
6262

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
6569
min_acc: -5.0

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

+4
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@@ -60,6 +60,10 @@
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emergency_acc: -5.0 # denotes acceleration
6161
emergency_jerk: -3.0
6262

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
6569
min_acc: -5.0

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

+4
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@@ -60,6 +60,10 @@
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emergency_acc: -5.0 # denotes acceleration
6161
emergency_jerk: -3.0
6262

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
6569
min_acc: -5.0

‎autoware_launch/config/localization/ekf_localizer.param.yaml

+2-2
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@@ -30,8 +30,8 @@
3030
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
3535

3636
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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1+
/**:
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
11+
negative: False

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

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1+
/**:
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
8+
filter_limit_negative: False
9+
keep_organized: False

‎autoware_launch/config/localization/stop_filter.param.yaml

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1+
/**:
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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1+
/**:
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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1+
/**:
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

+5-4
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@@ -2,14 +2,15 @@
22
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]
1010

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]
1414

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_xx1.param.yaml

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1+
/**:
2+
ros__parameters:
3+
# network
4+
trt_precision: fp16
5+
cloud_capacity: 2000000
6+
onnx_path: "$(var model_path)/transfusion_xx1.onnx"
7+
engine_path: "$(var model_path)/transfusion_xx1.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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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

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