Merge pull request #638 from tier4/feat/update-aeb-param-for-urban-sc…

…enarios

feat(autonomous_emergency_braking): change params to cater to urban scenarios

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

@@ -21,14 +21,14 @@
     # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
-    voxel_grid_x: 0.05
-    voxel_grid_y: 0.05
-    voxel_grid_z: 100000.0
+    voxel_grid_x: 0.1
+    voxel_grid_y: 0.1
+    voxel_grid_z: 0.5
 
     # Point cloud cropping
-    expand_width: 0.1
-    path_footprint_extra_margin: 4.0
-    speed_calculation_expansion_margin: 0.5
+    expand_width: -0.2
+    path_footprint_extra_margin: 1.0
+    speed_calculation_expansion_margin: 0.7
 
     # Point cloud clustering
     cluster_tolerance: 0.15 #[m]
@@ -37,10 +37,10 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 2.0
+    longitudinal_offset: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    collision_keeping_sec: 2.0
+    collision_keeping_sec: 3.0
     previous_obstacle_keep_time: 1.0
     aeb_hz: 10.0