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Shin-kyotoShin-kyoto
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feat(AEB): add max height range in AEB
Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>
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‎control/autonomous_emergency_braking/README.md

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@@ -26,26 +26,27 @@ This module has following assumptions.
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## Parameters
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| Name | Unit | Type | Description | Default value |
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| :--------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------ | :------------ |
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| publish_debug_pointcloud | [-] | bool | flag to publish the point cloud used for debugging | false |
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| use_predicted_trajectory | [-] | bool | flag to use the predicted path from the control module | true |
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| use_imu_path | [-] | bool | flag to use the predicted path generated by sensor data | true |
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| detection_range_min_height | [m] | double | minimum hight of detection range used for avoiding the ghost brake by false positive point clouds | 0.3 |
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| voxel_grid_x | [m] | double | down sampling parameters of x-axis for voxel grid filter | 0.05 |
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| voxel_grid_y | [m] | double | down sampling parameters of y-axis for voxel grid filter | 0.05 |
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| voxel_grid_z | [m] | double | down sampling parameters of z-axis for voxel grid filter | 100000.0 |
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| min_generated_path_length | [m] | double | minimum distance for a predicted path generated by sensors | 0.5 |
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| expand_width | [m] | double | expansion width of the ego vehicle for the collision check | 0.1 |
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| longitudinal_offset | [m] | double | longitudinal offset distance for collision check | 2.0 |
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| t_response | [s] | double | response time for the ego to detect the front vehicle starting deceleration | 1.0 |
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| a_ego_min | [m/ss] | double | maximum deceleration value of the ego vehicle | -3.0 |
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| a_obj_min | [m/ss] | double | maximum deceleration value of objects | -3.0 |
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| imu_prediction_time_horizon | [s] | double | time horizon of the predicted path generated by sensors | 1.5 |
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| imu_prediction_time_interval | [s] | double | time interval of the predicted path generated by sensors | 0.1 |
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| mpc_prediction_time_horizon | [s] | double | time horizon of the predicted path generated by mpc | 1.5 |
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| mpc_prediction_time_interval | [s] | double | time interval of the predicted path generated by mpc | 0.1 |
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| aeb_hz | [-] | double | frequency at which AEB operates per second | 10 |
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| Name | Unit | Type | Description | Default value |
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| :-------------------------------- | :----- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
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| publish_debug_pointcloud | [-] | bool | flag to publish the point cloud used for debugging | false |
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| use_predicted_trajectory | [-] | bool | flag to use the predicted path from the control module | true |
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| use_imu_path | [-] | bool | flag to use the predicted path generated by sensor data | true |
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| detection_range_min_height | [m] | double | minimum hight of detection range used for avoiding the ghost brake by false positive point clouds | 0.3 |
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| detection_range_max_height_margin | [m] | double | margin for maximum hight of detection range used for avoiding the ghost brake by false positive point clouds. `detection_range_max_height = vehicle_height + detection_range_max_height_margin` | 0.0 |
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| voxel_grid_x | [m] | double | down sampling parameters of x-axis for voxel grid filter | 0.05 |
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| voxel_grid_y | [m] | double | down sampling parameters of y-axis for voxel grid filter | 0.05 |
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| voxel_grid_z | [m] | double | down sampling parameters of z-axis for voxel grid filter | 100000.0 |
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| min_generated_path_length | [m] | double | minimum distance for a predicted path generated by sensors | 0.5 |
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| expand_width | [m] | double | expansion width of the ego vehicle for the collision check | 0.1 |
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| longitudinal_offset | [m] | double | longitudinal offset distance for collision check | 2.0 |
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| t_response | [s] | double | response time for the ego to detect the front vehicle starting deceleration | 1.0 |
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| a_ego_min | [m/ss] | double | maximum deceleration value of the ego vehicle | -3.0 |
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| a_obj_min | [m/ss] | double | maximum deceleration value of objects | -3.0 |
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| imu_prediction_time_horizon | [s] | double | time horizon of the predicted path generated by sensors | 1.5 |
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| imu_prediction_time_interval | [s] | double | time interval of the predicted path generated by sensors | 0.1 |
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| mpc_prediction_time_horizon | [s] | double | time horizon of the predicted path generated by mpc | 1.5 |
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| mpc_prediction_time_interval | [s] | double | time interval of the predicted path generated by mpc | 0.1 |
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| aeb_hz | [-] | double | frequency at which AEB operates per second | 10 |
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## Inner-workings / Algorithms
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‎control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml

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@@ -4,6 +4,7 @@
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use_predicted_trajectory: true
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use_imu_path: true
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detection_range_min_height: 0.3
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detection_range_max_height_margin: 0.0
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voxel_grid_x: 0.05
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voxel_grid_y: 0.05
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voxel_grid_z: 100000.0

‎control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp

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@@ -176,6 +176,7 @@ class AEB : public rclcpp::Node
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bool use_predicted_trajectory_;
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bool use_imu_path_;
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double detection_range_min_height_;
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double detection_range_max_height_margin_;
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double voxel_grid_x_;
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double voxel_grid_y_;
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double voxel_grid_z_;

‎control/autonomous_emergency_braking/src/node.cpp

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@@ -130,6 +130,8 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
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use_predicted_trajectory_ = declare_parameter<bool>("use_predicted_trajectory");
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use_imu_path_ = declare_parameter<bool>("use_imu_path");
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detection_range_min_height_ = declare_parameter<double>("detection_range_min_height");
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detection_range_max_height_margin_ =
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declare_parameter<double>("detection_range_max_height_margin");
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voxel_grid_x_ = declare_parameter<double>("voxel_grid_x");
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voxel_grid_y_ = declare_parameter<double>("voxel_grid_y");
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voxel_grid_z_ = declare_parameter<double>("voxel_grid_z");
@@ -228,7 +230,9 @@ void AEB::onPointCloud(const PointCloud2::ConstSharedPtr input_msg)
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pcl::PassThrough<pcl::PointXYZ> height_filter;
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height_filter.setInputCloud(pointcloud_ptr);
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height_filter.setFilterFieldName("z");
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height_filter.setFilterLimits(detection_range_min_height_, 5.0);
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height_filter.setFilterLimits(
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detection_range_min_height_,
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vehicle_info_.vehicle_height_m + detection_range_max_height_margin_);
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height_filter.filter(*height_filtered_pointcloud_ptr);
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pcl::VoxelGrid<pcl::PointXYZ> filter;

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