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Merge pull request autowarefoundation#114 from tier4/sync-upstream
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chore: sync upstream
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@0x126
0x126 authored Mar 25, 2022
2 parents 7f0188b + e2774df commit 1475e50
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Showing 10 changed files with 269 additions and 172 deletions.
50 changes: 20 additions & 30 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -1309,43 +1309,33 @@ Visualization Manager:
Enabled: true
Name: ObstacleAvoidance
Namespaces:
avoiding_objects: false
base_bounds_line: false
bounds_candidate_base_text: false
bounds_candidate_for_base: false
bounds_candidate_for_top: false
bounds_candidate_top_text: false
constrain_rect: false
constrain_rect_text: false
constrain_rect_location: false
current_vehicle_footprint: false
extending_constrain_rect: false
extending_constrain_rect_text: false
extending_constrain_rect_location: false
fixed_mpt_points: false
fixed_points_for_extending: false
fixed_points_marker: false
interpolated_points_for_extending: false
interpolated_points_marker: false
interpolated_points_text_marker: false
non_fixed_points_for_extending: false
non_fixed_points_marker: false
num_vehicle_footprint: false
optimized_points_marker: false
optimized_points_text_marker: false
smoothed_points_text: false
straight_points_marker: false
top_bounds_line: false
mid_bounds_line: false
vehicle_footprint: false
base_bounds_0: false
base_bounds_1: false
base_bounds_2: false
current_vehicle_circles: false
lateral_errors: false
mpt_footprints: false
vehicle_circle_lines: false
vehicle_circles: false
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: ObstacleAvoidanceWall
Namespaces:
virtual_wall: true
virtual_wall_text: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/wall_marker
Value: true
Enabled: true
Name: MotionPlanning
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6 changes: 3 additions & 3 deletions control_launch/config/trajectory_follower/mpc_follower.param.yaml
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Expand Up @@ -54,9 +54,9 @@
steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz]
error_deriv_lpf_cutoff_hz: 5.0

# stop state
stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.5
# stop state: steering command is kept in the previous value in the stop state.
stop_state_entry_ego_speed: 0.001
stop_state_entry_target_speed: 0.001

# vehicle parameters
vehicle:
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110 changes: 56 additions & 54 deletions ...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
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@@ -1,62 +1,64 @@
/**:
ros__parameters:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
1, 1, 1, 1, 0, 0, 0, 0, #CAR
1, 1, 1, 1, 0, 0, 0, 0, #TRUCK
1, 1, 1, 1, 0, 0, 0, 0, #BUS
0, 0, 0, 0, 1, 1, 1, 0, #BICYCLE
0, 0, 0, 0, 1, 1, 1, 0, #MOTORBIKE
0, 0, 0, 0, 1, 1, 1, 0, #PEDESTRIAN
0, 0, 0, 0, 0, 0, 0, 1] #ANIMAL
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
1, 1, 1, 1, 1, 0, 0, 0, #CAR
1, 1, 1, 1, 1, 0, 0, 0, #TRUCK
1, 1, 1, 1, 1, 0, 0, 0, #BUS
1, 1, 1, 1, 1, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN

max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #BUS
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #BICYCLE
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #MOTORBIKE
2.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #PEDESTRIAN
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #ANIMAL
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE
3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN
12.10, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #CAR
19.75, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #TRUCK
32.40, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #BUS
2.50, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, 10000.00, #BICYCLE
3.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, 10000.00, #MOTORBIKE
2.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00, 10000.00, #PEDESTRIAN
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00] #ANIMAL
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN
12.10, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #CAR
19.75, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #TRUCK
32.40, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #BUS
32.40, 12.10, 19.75, 32.40, 32.40, 10000.00, 10000.00, 10000.00, #TRAILER
3.00, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN
min_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
3.600, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #CAR
6.000, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #TRUCK
10.000, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #BUS
0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #BICYCLE
0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #MOTORBIKE
0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #PEDESTRIAN
0.500, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #ANIMAL
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR
6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK
10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS
10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRAILER
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #MOTORBIKE
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #BICYCLE
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100] #PEDESTRIAN
max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #BUS
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #PEDESTRIAN
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #ANIMAL
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

min_iou_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, 0.3, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, #BUS
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #PEDESTRIAN
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #ANIMAL
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN
3 changes: 3 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -45,3 +45,6 @@
# not enabled yet
longitudinal_collision_margin_min_distance: 0.0 # [m]
longitudinal_collision_margin_time: 0.0

# ---------- advanced parameters ----------
avoidance_execution_lateral_threshold: 0.499
2 changes: 2 additions & 0 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Expand Up @@ -16,3 +16,5 @@

refine_goal_search_radius_range: 7.5
intersection_search_distance: 30.0

visualize_drivable_area_for_shared_linestrings_lanelet: true
1 change: 1 addition & 0 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
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Expand Up @@ -6,3 +6,4 @@
shifting_lateral_jerk: 0.2
min_shifting_distance: 5.0
min_shifting_speed: 5.56
shift_request_time_limit: 1.0
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