Skip to content

Commit

Permalink
feat(AEB): add max height range in AEB
Browse files Browse the repository at this point in the history 
Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>
  • Loading branch information
@Shin-kyoto
Shin-kyoto committed Mar 16, 2024
1 parent 27e5f8d commit 49311e4
Show file tree
Hide file tree
Showing 4 changed files with 28 additions and 21 deletions.
41 changes: 21 additions & 20 deletions control/autonomous_emergency_braking/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -26,26 +26,27 @@ This module has following assumptions.

## Parameters

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

## Inner-workings / Algorithms

Expand Down
1 change: 1 addition & 0 deletions control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
use_predicted_trajectory: true
use_imu_path: true
detection_range_min_height: 0.3
detection_range_max_height_margin: 0.0
voxel_grid_x: 0.05
voxel_grid_y: 0.05
voxel_grid_z: 100000.0
Expand Down
1 change: 1 addition & 0 deletions control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -176,6 +176,7 @@ class AEB : public rclcpp::Node
bool use_predicted_trajectory_;
bool use_imu_path_;
double detection_range_min_height_;
double detection_range_max_height_margin_;
double voxel_grid_x_;
double voxel_grid_y_;
double voxel_grid_z_;
Expand Down
6 changes: 5 additions & 1 deletion control/autonomous_emergency_braking/src/node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,8 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
use_predicted_trajectory_ = declare_parameter<bool>("use_predicted_trajectory");
use_imu_path_ = declare_parameter<bool>("use_imu_path");
detection_range_min_height_ = declare_parameter<double>("detection_range_min_height");
detection_range_max_height_margin_ =
declare_parameter<double>("detection_range_max_height_margin");

Check warning on line 134 in control/autonomous_emergency_braking/src/node.cpp

View check run for this annotation

Codecov / codecov/patch

control/autonomous_emergency_braking/src/node.cpp#L132-L134 

Added lines #L132 - L134 were not covered by tests
voxel_grid_x_ = declare_parameter<double>("voxel_grid_x");
voxel_grid_y_ = declare_parameter<double>("voxel_grid_y");
voxel_grid_z_ = declare_parameter<double>("voxel_grid_z");
Expand Down Expand Up @@ -228,7 +230,9 @@ void AEB::onPointCloud(const PointCloud2::ConstSharedPtr input_msg)
pcl::PassThrough<pcl::PointXYZ> height_filter;
height_filter.setInputCloud(pointcloud_ptr);
height_filter.setFilterFieldName("z");

Check warning on line 232 in control/autonomous_emergency_braking/src/node.cpp

View check run for this annotation

Codecov / codecov/patch

control/autonomous_emergency_braking/src/node.cpp#L229-L232 

Added lines #L229 - L232 were not covered by tests
height_filter.setFilterLimits(detection_range_min_height_, 5.0);
height_filter.setFilterLimits(
detection_range_min_height_,
vehicle_info_.vehicle_height_m + detection_range_max_height_margin_);
height_filter.filter(*height_filtered_pointcloud_ptr);

Check warning on line 236 in control/autonomous_emergency_braking/src/node.cpp

View check run for this annotation

Codecov / codecov/patch

control/autonomous_emergency_braking/src/node.cpp#L234-L236 

Added lines #L234 - L236 were not covered by tests

pcl::VoxelGrid<pcl::PointXYZ> filter;
Expand Down

0 comments on commit 49311e4

Please sign in to comment.