feat: enable aeb diag (autowarefoundation#659)

Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Oct 27, 2023 · a437af8 · a437af8
1 parent 7232a77
commit a437af8
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Showing 5 changed files with 7 additions and 3 deletions.
diff --git a/...aunch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...aunch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     use_predicted_trajectory: true
-    use_imu_path: true
+    use_imu_path: false
     voxel_grid_x: 0.05
     voxel_grid_y: 0.05
     voxel_grid_z: 100000.0
@@ -13,5 +13,5 @@
     a_obj_min: -1.0
     prediction_time_horizon: 1.5
     prediction_time_interval: 0.1
-    collision_keeping_sec: 0.0
+    collision_keeping_sec: 2.0
     aeb_hz: 10.0
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -19,6 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         # /autoware/control/external_control/local_external_control/device_connection: default
 

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -19,6 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/external_control/local_external_control/device_connection: default
 

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -20,6 +20,7 @@
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
         /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
         /autoware/localization/node_alive_monitoring: default

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,14 +4,15 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="true"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
 
   <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
     <!-- option -->
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="use_multithread" value="true"/>
     <arg name="vehicle_id" value="$(var vehicle_id)"/>
     <arg name="enable_obstacle_collision_checker" value="false"/>
     <arg name="trajectory_follower_node_param_path" value="$(find-pkg-share autoware_launch)/config/control/trajectory_follower/trajectory_follower_node.param.yaml"/>