@@ -26,25 +26,26 @@ This module has following assumptions.
2626
2727## Parameters
2828
29- | Name | Unit | Type | Description | Default value |
30- | :--------------------------- | :----- | :----- | :-------------------------------------------------------------------------- | :------------ |
31- | publish_debug_pointcloud | [ -] | bool | flag to publish the point cloud used for debugging | false |
32- | use_predicted_trajectory | [ -] | bool | flag to use the predicted path from the control module | true |
33- | use_imu_path | [ -] | bool | flag to use the predicted path generated by sensor data | true |
34- | voxel_grid_x | [ m] | double | down sampling parameters of x-axis for voxel grid filter | 0.05 |
35- | voxel_grid_y | [ m] | double | down sampling parameters of y-axis for voxel grid filter | 0.05 |
36- | voxel_grid_z | [ m] | double | down sampling parameters of z-axis for voxel grid filter | 100000.0 |
37- | min_generated_path_length | [ m] | double | minimum distance for a predicted path generated by sensors | 0.5 |
38- | expand_width | [ m] | double | expansion width of the ego vehicle for the collision check | 0.1 |
39- | longitudinal_offset | [ m] | double | longitudinal offset distance for collision check | 2.0 |
40- | t_response | [ s] | double | response time for the ego to detect the front vehicle starting deceleration | 1.0 |
41- | a_ego_min | [ m/ss] | double | maximum deceleration value of the ego vehicle | -3.0 |
42- | a_obj_min | [ m/ss] | double | maximum deceleration value of objects | -3.0 |
43- | imu_prediction_time_horizon | [ s] | double | time horizon of the predicted path generated by sensors | 1.5 |
44- | imu_prediction_time_interval | [ s] | double | time interval of the predicted path generated by sensors | 0.1 |
45- | mpc_prediction_time_horizon | [ s] | double | time horizon of the predicted path generated by mpc | 1.5 |
46- | mpc_prediction_time_interval | [ s] | double | time interval of the predicted path generated by mpc | 0.1 |
47- | aeb_hz | [ -] | double | frequency at which AEB operates per second | 10 |
29+ | Name | Unit | Type | Description | Default value |
30+ | :--------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------ | :------------ |
31+ | publish_debug_pointcloud | [ -] | bool | flag to publish the point cloud used for debugging | false |
32+ | use_predicted_trajectory | [ -] | bool | flag to use the predicted path from the control module | true |
33+ | use_imu_path | [ -] | bool | flag to use the predicted path generated by sensor data | true |
34+ | detection_range_min_height | [ m] | double | minimum hight of detection range used for avoiding the ghost brake by false positive point clouds | 0.3 |
35+ | voxel_grid_x | [ m] | double | down sampling parameters of x-axis for voxel grid filter | 0.05 |
36+ | voxel_grid_y | [ m] | double | down sampling parameters of y-axis for voxel grid filter | 0.05 |
37+ | voxel_grid_z | [ m] | double | down sampling parameters of z-axis for voxel grid filter | 100000.0 |
38+ | min_generated_path_length | [ m] | double | minimum distance for a predicted path generated by sensors | 0.5 |
39+ | expand_width | [ m] | double | expansion width of the ego vehicle for the collision check | 0.1 |
40+ | longitudinal_offset | [ m] | double | longitudinal offset distance for collision check | 2.0 |
41+ | t_response | [ s] | double | response time for the ego to detect the front vehicle starting deceleration | 1.0 |
42+ | a_ego_min | [ m/ss] | double | maximum deceleration value of the ego vehicle | -3.0 |
43+ | a_obj_min | [ m/ss] | double | maximum deceleration value of objects | -3.0 |
44+ | imu_prediction_time_horizon | [ s] | double | time horizon of the predicted path generated by sensors | 1.5 |
45+ | imu_prediction_time_interval | [ s] | double | time interval of the predicted path generated by sensors | 0.1 |
46+ | mpc_prediction_time_horizon | [ s] | double | time horizon of the predicted path generated by mpc | 1.5 |
47+ | mpc_prediction_time_interval | [ s] | double | time interval of the predicted path generated by mpc | 0.1 |
48+ | aeb_hz | [ -] | double | frequency at which AEB operates per second | 10 |
4849
4950## Inner-workings / Algorithms
5051
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