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feat(autonomous_emergency_braking): add aeb emergency stop #510

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feat(autonomous_emergency_braking): add aeb emergency stop #510

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7e98d80
enable AEB emergency stops
danielsanchezaran Jul 29, 2024
2ebd0cd
style(pre-commit): autofix
pre-commit-ci[bot] Jul 29, 2024
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6 changes: 3 additions & 3 deletions ...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
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Expand Up @@ -2,14 +2,14 @@
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
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
Expand All @@ -29,7 +29,7 @@

# Point cloud clustering
cluster_tolerance: 0.15 #[m]
cluster_minimum_height: 0.0
cluster_minimum_height: 0.1
minimum_cluster_size: 10
maximum_cluster_size: 10000

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2 changes: 1 addition & 1 deletion autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
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Expand Up @@ -2,7 +2,7 @@
ros__parameters:
update_rate: 10.0
system_emergency_heartbeat_timeout: 0.5
use_emergency_handling: false
use_emergency_handling: true
check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
use_start_request: false
enable_cmd_limit_filter: true
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1 change: 0 additions & 1 deletion autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
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Expand Up @@ -3,4 +3,3 @@ files:

edits:
- { type: remove, path: /autoware/system/duplicated_node_checker }
- { type: remove, path: /autoware/control/emergency_braking }
3 changes: 0 additions & 3 deletions autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
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@@ -1,5 +1,2 @@
files:
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }

edits:
- { type: remove, path: /autoware/control/emergency_braking }
4 changes: 2 additions & 2 deletions ...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
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@@ -1,5 +1,5 @@
/**:
ros__parameters:
update_rate: 30
target_acceleration: -2.5
target_jerk: -1.5
target_acceleration: -3.0
target_jerk: -3.0
2 changes: 1 addition & 1 deletion autoware_launch/launch/components/tier4_control_component.launch.xml
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Expand Up @@ -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)"/>
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