From 51c48172e9855db0fea6b59a7ac210d447fe5af5 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Wed, 24 Apr 2024 16:24:52 +0900 Subject: [PATCH 1/2] add params for aeb Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 82d5a4f12e..54b478a795 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -3,6 +3,7 @@ publish_debug_pointcloud: false use_predicted_trajectory: true use_imu_path: true + path_footprint_extra_margin: 4.0 detection_range_min_height: 0.0 detection_range_max_height_margin: 0.0 voxel_grid_x: 0.05 @@ -14,9 +15,12 @@ t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 + cluster_tolerance: 0.1 #[m] + minimum_cluster_size: 10 + maximum_cluster_size: 10000 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 mpc_prediction_time_horizon: 1.5 mpc_prediction_time_interval: 0.1 - collision_keeping_sec: 0.0 + collision_keeping_sec: 5.0 aeb_hz: 10.0 From 6bba87a1eb2bbfac8af9caedfc25c85152b20fb7 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Wed, 24 Apr 2024 16:27:02 +0900 Subject: [PATCH 2/2] set collision keep time to be more conservative Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 54b478a795..167a36c230 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -22,5 +22,5 @@ imu_prediction_time_interval: 0.1 mpc_prediction_time_horizon: 1.5 mpc_prediction_time_interval: 0.1 - collision_keeping_sec: 5.0 + collision_keeping_sec: 2.0 aeb_hz: 10.0