2024.11 autoware release

autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -3,13 +3,10 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: true
-    limit_imu_path_lat_dev: false
-    limit_imu_path_length: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
-    imu_path_lat_dev_threshold: 1.75
     min_generated_imu_path_length: 0.5
     max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
@@ -40,7 +37,7 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset_margin: 1.0
+    longitudinal_offset: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -3,6 +3,8 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
+    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
+    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --

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

@@ -11,11 +11,13 @@
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.49
+    stopping_state_stop_dist: 0.5
     stopped_state_entry_duration_time: 0.1
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
+    emergency_state_traj_trans_dev: 3.0
+    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0
@@ -73,7 +75,7 @@
 
     # slope compensation
     lpf_pitch_gain: 0.95
-    slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
     adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -5,6 +5,7 @@
       enable_yaw_bias_estimation: true
       predict_frequency: 50.0
       tf_rate: 50.0
+      publish_tf: true
       extend_state_step: 50
 
     pose_measurement:

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,11 +1,6 @@
 /**:
   ros__parameters:
-    lanelet2_map_projector_type: local   # Options: MGRS, UTM, local
-    latitude: 47.68333       # Latitude of map_origin, using in UTM
-    longitude: 17.63512          # Longitude of map_origin, using in UTM
-
-    center_line_resolution: 5.0         # [m]
-
     allow_unsupported_version: true             # flag to load unsupported format_version anyway. If true, just prints warning.
+    center_line_resolution: 5.0                 # [m]
     use_waypoints: true                         # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
     lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml

@@ -19,8 +19,3 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
-      debug: false
-      lanelet_extra_margin: 0.0
-      use_height_threshold: false
-      max_height_threshold: 10.0 # [m] from the base_link height in map frame
-      min_height_threshold: -1.0 # [m] from the base_link height in map frame

autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml

@@ -12,7 +12,5 @@
     #UNKNOWN,  CAR,    TRUCK,     BUS,    TRAILER, MOTORBIKE, BICYCLE,      PEDESTRIAN
       [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
 
-    validate_max_distance_m: 70.0 # [m]
-
     using_2d_validator: true
     enable_debugger: false

autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml

@@ -4,21 +4,10 @@
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15
-    # projection setting for each ROI whether unrectify image
-    point_project_to_unrectified_image: [false, false, false, false, false, false]
     debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0
     filter_scope_min_z: -100.0
     filter_scope_max_x: 100.0
     filter_scope_max_y: 100.0
     filter_scope_max_z: 100.0
-
-    # camera cache setting for each ROI
-    approximate_camera_projection: [true, true, true, true, true, true]
-    # grid size in pixels
-    approximation_grid_cell_width: 1.0
-    approximation_grid_cell_height: 1.0
-
-    # debug parameters
-    publish_processing_time_detail: false

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -11,6 +11,7 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

@@ -11,6 +11,7 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml

@@ -11,6 +11,7 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -9,6 +9,7 @@
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3
+      iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       score_threshold: 0.45

autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml

@@ -10,6 +10,7 @@
     densification_world_frame_id: map
     # post-process params
     circle_nms_dist_threshold: 0.5
+    iou_nms_target_class_names: ["CAR"]
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]  # refers to the class_names

autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml

@@ -19,8 +19,3 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
-      debug: false
-      lanelet_extra_margin: 0.0
-      use_height_threshold: false
-      max_height_threshold: 10.0 # [m] from the base_link height in map frame
-      min_height_threshold: -1.0 # [m] from the base_link height in map frame

autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml

@@ -19,8 +19,3 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
-      debug: false
-      lanelet_extra_margin: 0.0
-      use_height_threshold: false
-      max_height_threshold: 10.0 # [m] from the base_link height in map frame
-      min_height_threshold: -1.0 # [m] from the base_link height in map frame

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml

@@ -13,22 +13,6 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
-    consider_odometry_uncertainty: false
-
-    # tracker parameters
-    tracker_lifetime: 1.0  # [s]
-    min_known_object_removal_iou: 0.1  # [ratio]
-    min_unknown_object_removal_iou: 0.001  # [ratio]
-    distance_threshold: 5.0  # [m]
-    confident_count_threshold:
-      UNKNOWN: 3
-      CAR: 3
-      TRUCK: 3
-      BUS: 3
-      TRAILER: 3
-      MOTORBIKE: 3
-      BICYCLE: 3
-      PEDESTRIAN: 3
 
     # debug parameters
     publish_processing_time: true

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -24,7 +24,7 @@
         use_virtual_ground_point: True
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
-        grid_size_m: 0.5
+        grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5

autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml

@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-    external_delay_tolerance: 5.0
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
     external_priority: false

autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml

@@ -12,8 +12,8 @@
     grid_length_y: 70.0
     grid_position_x: 0.0
     grid_position_y: 0.0
-    maximum_lidar_height_thres: 2.5  # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame)
-    minimum_lidar_height_thres: 0.0  # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame)
+    maximum_lidar_height_thres: 0.3
+    minimum_lidar_height_thres: -2.2
     use_wayarea: true
     use_parkinglot: true
     use_objects: true

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml

@@ -56,10 +56,10 @@
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 0.3 # [m]
-        margin_distance_around_pedestrian: 0.8 # [m]
+        lat_offset_from_obstacle: 1.0 # [m]
+        margin_distance_around_pedestrian: 2.0 # [m]
         predicted_path:
-          end_time_to_consider: 1.0 # [s]
+          end_time_to_consider: 2.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]

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

@@ -23,9 +23,9 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.5                            # [m]
+            soft_margin: 0.7                            # [m]
             hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.2         # [m]
+            hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -34,9 +34,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -67,7 +67,7 @@
           th_moving_time: 1.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: -0.2
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
@@ -76,33 +76,33 @@
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 0.6
+          longitudinal_margin: 1.0
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
-          longitudinal_margin: 0.6
+          longitudinal_margin: 1.0
           lateral_margin:
-            soft_margin: 0.5
+            soft_margin: 0.7
             hard_margin: 0.3
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 0.6
+          longitudinal_margin: 1.0
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.2
+            hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
@@ -232,7 +232,7 @@
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
-          max_prepare_time: 2.0                         # [s]
+          max_prepare_time: 3.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER
@@ -294,7 +294,7 @@
           velocity: [1.39, 4.17, 11.1]                  # [m/s]
           max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
           min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
-          max_jerk_values: [3.0, 3.0, 3.0]              # [m/sss]
+          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:

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

@@ -9,7 +9,7 @@
     dynamic_expansion:
       enabled: true
       print_runtime: false
-      max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expanded (0.0 means no limit)
+      max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
       min_bound_interval: 1.0  # [m] minimum interval between two consecutive bound points (before expansion)
       smoothing:
         curvature_average_window: 3  # window size used for smoothing the curvatures using a moving window average