feat(AEB): implement parameterized prediction time horizon and interval #5413
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>
7 tasks
|
@1222-takeshi |
Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>
|
@tkimura4 |
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5413 +/- ##
==========================================
- Coverage 14.80% 14.80% -0.01%
==========================================
Files 1661 1661
Lines 115448 115453 +5
Branches 35642 35642
==========================================
Hits 17093 17093
- Misses 79109 79114 +5
Partials 19246 19246
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
tkimura4
approved these changes
Oct 26, 2023
TakaHoribe
reviewed
Oct 30, 2023
|
|
||
| if (i * mpc_prediction_time_interval_ > mpc_prediction_time_horizon_) { |
There was a problem hiding this comment.
@1222-takeshi Since mpc_prediction_time_interval_ is defined in the MPC, it should be calculated from predicted_trajectory itself.
danielsanchezaran
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Apr 15, 2024
…al (autowarefoundation#5413) * feat(AEB): implement parameterized prediction time horizon and interval Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> * chore: update readme Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Introduced parameters for controlling the prediction time horizon and interval for both IMU and MPC-based predictions in Autonomous Emergency Braking (AEB). This enhancement allows for optimized processing by enabling the configuration of the prediction span, thereby improving system performance and usability.
Additionally, introduced a parameter to toggle the publishing of debug pointcloud.
Related links
TIER IV INTERNAL LINK
tier4#966
launcher PR
Tests performed
see debug polygon
before
after
Notes for reviewers
Interface changes
Effects on system behavior
Before, the whole predicted trajectory was used for collision prediction. Now, to save computing effort, only selected parts of the trajectory can be used. This is done by cutting the trajectory to a specific interval, making collision prediction faster while keeping it accurate.
Due to this change, some parameters may need adjustment to keep the system working properly.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.