Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(autonomous_emergency_braking): add obstacle velocity estimation for aeb #978

Merged
merged 5 commits into from
May 7, 2024
Merged

feat(autonomous_emergency_braking): add obstacle velocity estimation for aeb #978

Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
04765ce
rebase to awf main
danielsanchezaran May 1, 2024
c97d4ca
set debug PC as false
danielsanchezaran May 1, 2024
9794416
dictionary
danielsanchezaran May 1, 2024
5212d7a
eliminate duplicate parameter
danielsanchezaran May 7, 2024
c2148f7
eliminate duplicate parameter
danielsanchezaran May 7, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
34 changes: 23 additions & 11 deletions ...aunch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,26 +1,38 @@
/**:
ros__parameters:
publish_debug_pointcloud: false
# Ego path calculation
use_predicted_trajectory: true
use_imu_path: true
path_footprint_extra_margin: 4.0
use_imu_path: false
min_generated_path_length: 0.5
imu_prediction_time_horizon: 1.5
imu_prediction_time_interval: 0.1
mpc_prediction_time_horizon: 1.5
mpc_prediction_time_interval: 0.1

# Debug
publish_debug_pointcloud: false

# 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
min_generated_path_length: 0.5

# Point cloud cropping
expand_width: 0.1
path_footprint_extra_margin: 4.0

# Point cloud clustering
cluster_tolerance: 0.1 #[m]
minimum_cluster_size: 10
maximum_cluster_size: 10000

# RSS distance collision check
longitudinal_offset: 2.0
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: 2.0
previous_obstacle_keep_time: 1.0
aeb_hz: 10.0
Loading