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feat(AEB): add height filter for avoiding the ghost brake by false positive point clouds #6637

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Mar 26, 2024
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feat(AEB): add height filter for avoiding the ghost brake by false positive point clouds #6637

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4989e3c
feat(AEB): add height filter for avoiding the ghost brake by false po…
Shin-kyoto Mar 15, 2024
27e5f8d
docs(AEB): add param for height filter
Shin-kyoto Mar 15, 2024
49311e4
feat(AEB): add max height range in AEB
Shin-kyoto Mar 16, 2024
4fbfcd0
feat(AEB): update default params
Shin-kyoto Mar 26, 2024
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39 changes: 20 additions & 19 deletions control/autonomous_emergency_braking/README.md
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Expand Up @@ -26,25 +26,26 @@ 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 |
| 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 |
| 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

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1 change: 1 addition & 0 deletions control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml
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Expand Up @@ -3,6 +3,7 @@
publish_debug_pointcloud: false
use_predicted_trajectory: true
use_imu_path: true
detection_range_min_height: 0.3
voxel_grid_x: 0.05
voxel_grid_y: 0.05
voxel_grid_z: 100000.0
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1 change: 1 addition & 0 deletions control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp
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Expand Up @@ -175,6 +175,7 @@ class AEB : public rclcpp::Node
bool publish_debug_pointcloud_;
bool use_predicted_trajectory_;
bool use_imu_path_;
double detection_range_min_height_;
double voxel_grid_x_;
double voxel_grid_y_;
double voxel_grid_z_;
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12 changes: 11 additions & 1 deletion control/autonomous_emergency_braking/src/node.cpp
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Expand Up @@ -21,6 +21,7 @@

#include <boost/geometry/strategies/agnostic/hull_graham_andrew.hpp>

#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <tf2/utils.h>

Expand Down Expand Up @@ -128,6 +129,7 @@
publish_debug_pointcloud_ = declare_parameter<bool>("publish_debug_pointcloud");
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");

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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 @@ -221,9 +223,17 @@
pcl::fromROSMsg(transformed_points, *pointcloud_ptr);
}

// apply z-axis filter for removing False Positive points
PointCloud::Ptr height_filtered_pointcloud_ptr(new PointCloud);
pcl::PassThrough<pcl::PointXYZ> height_filter;
height_filter.setInputCloud(pointcloud_ptr);
height_filter.setFilterFieldName("z");
height_filter.setFilterLimits(detection_range_min_height_, 5.0);
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Ideally, 5.0 should depend on the vehicle's height. How about setting the vehicle's height + ros parameter to this value?
The ros parameter's name would be detection_range_height_margin or detection_range_additional_height.

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@takayuki5168

Thank you for your comment!
I changed this code following your comment in 49311e4

  • Please check if the name of parameter (detection_range_max_height_margin) is easy to understand.
  • Please check if the default value of parameter (detection_range_max_height_margin) 0 is appropriate.

height_filter.filter(*height_filtered_pointcloud_ptr);

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pcl::VoxelGrid<pcl::PointXYZ> filter;
PointCloud::Ptr no_height_filtered_pointcloud_ptr(new PointCloud);
filter.setInputCloud(pointcloud_ptr);
filter.setInputCloud(height_filtered_pointcloud_ptr);

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filter.setLeafSize(voxel_grid_x_, voxel_grid_y_, voxel_grid_z_);
filter.filter(*no_height_filtered_pointcloud_ptr);

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