feat(autonomous_emergency_braking): cherry pick/aeb latest to v4.0.0 (a…

…utowarefoundation#838) * feat(autonomous_emergency_braking): add params to enable or disable PC and predicted objects (autowarefoundation#1031) * add params to enable or disable PC and predicted objects Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * set predicted object usage to false Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): add and tune params (autowarefoundation#1037) * add and tune params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * set back voxel grid z Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix grid to what it is in OSS launch Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): add param for oublishing debug markers (autowarefoundation#1063) add param for oublishing debug markers Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): enable AEB stop in vehicle_cmd_gate and diag_graph_agg (autowarefoundation#1099) * enable emergency handling for AEB stop Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update AEB params to work better at 30 kmph Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): add info marker to aeb and state check override (autowarefoundation#1103) * add info marker and override for state Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * make stop wall viz default Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): initiate speed_calculation_expansion_margin parameter (autowarefoundation#1168) initiate speed_calculation_expansion_margin parameter Signed-off-by: ismetatabay <ismet@leodrive.ai> * feat(autonomous_emergency_braking): set max imu path length (autowarefoundation#1183) * set param for max imu path distance Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): change params to cater to urban scenario (autowarefoundation#1197) update scenarios Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * enable aeb by default Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor(rviz): add VirtualWall display for Autonomous Emergency Braking (autowarefoundation#1187) feat(rviz): add VirtualWall display for Autonomous Emergency Braking Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * disable AEB stop wall viz Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * revert mrm emergency stop param changes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: ismetatabay <ismet@leodrive.ai> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp>
technolojin · Dec 13, 2024 · 61b8285 · 61b8285
1 parent 8f8e349
commit 61b8285
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Showing 3 changed files with 67 additions and 12 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -2,38 +2,45 @@
   ros__parameters:
     # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: false
+    use_imu_path: true
+    use_pointcloud_data: true
+    use_predicted_object_data: false
     use_object_velocity_calculation: true
-    min_generated_path_length: 0.5
+    check_autoware_state: true
+    min_generated_imu_path_length: 0.5
+    max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
-    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_horizon: 4.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
     publish_debug_pointcloud: false
+    publish_debug_markers: true
 
     # 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
+    expand_width: -0.2
+    path_footprint_extra_margin: 1.0
+    speed_calculation_expansion_margin: 0.7
 
     # Point cloud clustering
-    cluster_tolerance: 0.1 #[m]
+    cluster_tolerance: 0.15 #[m]
+    cluster_minimum_height: 0.1
     minimum_cluster_size: 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
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2411,6 +2411,52 @@ Visualization Manager:
             Constant Color: false
             Scale: 0.30000001192092896
             Value: false
+        - Class: rviz_plugins/Trajectory
+          Color Border Vel Max: 3
+          Enabled: false
+          Name: Resampled Reference Trajectory
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory
+          Value: true
+          View Path:
+            Alpha: 1
+            Color: 153; 193; 241
+            Constant Color: true
+            Value: false
+            Constant Width: true
+            Width: 0.2
+          View Velocity:
+            Alpha: 1
+            Color: 0; 0; 0
+            Constant Color: false
+            Scale: 0.30000001192092896
+            Value: false
+          View Point:
+            Alpha: 1
+            Color: 0; 60; 255
+            Offset: 0
+            Radius: 0.10000000149011612
+            Value: true
+        - Class: rviz_common/Group
+          Displays:
+            - Class: rviz_default_plugins/MarkerArray
+              Enabled: false
+              Name: VirtualWall (AEB)
+              Namespaces:
+                {}
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /control/autonomous_emergency_braking/virtual_wall
+              Value: false
+          Enabled: false
+          Name: VirtualWall
         - Class: rviz_default_plugins/Marker
           Enabled: false
           Name: Stop Reason
@@ -2490,6 +2536,8 @@ Visualization Manager:
                   Debug/MPC: true
                   Debug/PurePursuit: true
                   Predicted Trajectory: true
+                  VirtualWall:
+                    VirtualWall (AEB): true
                   Value: false
                 Debug:
                   Control: true