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feat(autonomous_emergency_braking): change params to cater to urban scenarios #638

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Oct 24, 2024
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feat(autonomous_emergency_braking): change params to cater to urban scenarios #638

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16 changes: 8 additions & 8 deletions ...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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]
Expand All @@ -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
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