feat(autonomous_emergency_braking): change params to cater to urban scenario #1197
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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kyoichi-sugahara,
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Oct 23, 2024
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…cenario (autowarefoundation#1197) update scenarios Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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…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>
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Description
These parameters changes are based on recent real-life tests on Odaiba. These tests were aimed at reducing unwanted AEB activation caused by vegetation close to the ego path and the AEB's IMU path activating an emergency stop when the ego turns at high speeds.
The voxel grid changes are aimed at maintaining AEB performance while being able to detect thin and long objects.
With these parameters, no unwanted activation happened for our tests. These parameters are aimed at a regular sized vehicle implementation in urban environments and should be tuned based on the user's needs. These parameters might be considered to be a bit on the conservative side (harder to activate AEB stop).
Tests performed
Real life tests at Odaiba.
Degradation check: https://evaluation.tier4.jp/evaluation/reports/dbbc4faf-6813-5720-a34f-29aa635561f0?project_id=prd_jt (no degradation?)
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
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