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feat(autonomous_emergency_braking): enable AEB stop in vehicle_cmd_gate and diag_graph_agg #1099

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merged 2 commits into from
Jul 31, 2024
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feat(autonomous_emergency_braking): enable AEB stop in vehicle_cmd_gate and diag_graph_agg #1099

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403fd8c
enable emergency handling for AEB stop
danielsanchezaran Jul 30, 2024
91f52ec
update AEB params to work better at 30 kmph
danielsanchezaran Jul 30, 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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Original file line number Diff line number Diff line change
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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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
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target_jerk: -3.0
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