From 99281f13da8cc89d91a1da4f66e807a0b0173d17 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Thu, 26 Oct 2023 18:31:05 +0900 Subject: [PATCH] feat(AEB): implement parameterized prediction time horizon and interval (#657) Signed-off-by: 1222-takeshi --- .../autonomous_emergency_braking.param.yaml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml index 09db0feb34..1a870aff7a 100644 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + publish_debug_pointcloud: false use_predicted_trajectory: true use_imu_path: true voxel_grid_x: 0.05 @@ -11,7 +12,9 @@ t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - prediction_time_horizon: 1.5 - prediction_time_interval: 0.1 + imu_prediction_time_horizon: 1.5 + imu_prediction_time_interval: 0.1 + mpc_prediction_time_horizon: 1.5 + mpc_prediction_time_interval: 0.1 collision_keeping_sec: 0.0 aeb_hz: 10.0