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feat(autoware_autonomous_emergency_braking): Created Schema file and updated ReadME file for parameters setting #10002

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feat(autoware_autonomous_emergency_braking): Created Schema file and updated ReadME file for parameters setting #10002

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feat(autoware_autonomous_emergency_braking): Created Schema file and…
vish0012 Jan 22, 2025
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pre-commit-ci[bot] Jan 22, 2025
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32 changes: 1 addition & 31 deletions control/autoware_autonomous_emergency_braking/README.md
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Expand Up @@ -288,37 +288,7 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t

## Parameters

| Name | Unit | Type | Description | Default value |
| :--------------------------------- | :----- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| publish_debug_markers | [-] | bool | flag to publish debug markers | true |
| 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 |
| use_object_velocity_calculation | [-] | bool | flag to use the object velocity calculation. If set to false, object velocity is set to 0 [m/s] | true |
| check_autoware_state | [-] | bool | flag to enable or disable autoware state check. If set to false, the AEB module will run even when the ego vehicle is not in AUTONOMOUS state. | true |
| detection_range_min_height | [m] | double | minimum hight of detection range used for avoiding the ghost brake by false positive point clouds | 0.0 |
| 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 |
| cluster tolerance | [m] | double | maximum allowable distance between any two points to be considered part of the same cluster | 0.15 |
| cluster_minimum_height | [m] | double | at least one point in a cluster must be higher than this value for the cluster to be included in the set of possible collision targets | 0.1 |
| minimum_cluster_size | [-] | int | minimum required amount of points contained by a cluster for it to be considered as a possible target obstacle | 10 |
| maximum_cluster_size | [-] | int | maximum amount of points contained by a cluster for it to be considered as a possible target obstacle | 10000 |
| min_generated_imu_path_length | [m] | double | minimum distance for a predicted path generated by sensors | 0.5 |
| max_generated_imu_path_length | [m] | double | maximum distance for a predicted path generated by sensors | 10.0 |
| expand_width | [m] | double | expansion width of the ego vehicle for collision checking, path cropping and speed calculation | 0.1 |
| longitudinal_offset_margin | [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 |
| speed_calculation_expansion_margin | [m] | double | expansion width of the ego vehicle footprint used when calculating the closest object's speed | 0.7 |
| path_footprint_extra_margin | [m] | double | this parameters expands the ego footprint used to crop the AEB input pointcloud | 1.0 |
{{ json_to_markdown("/control/autoware_autonomous_emergency_braking/schema/autonomous_emergency_braking.schema.json") }}

## Limitations

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215 changes: 215 additions & 0 deletions ...rol/autoware_autonomous_emergency_braking/schema/autonomous_emergency_braking.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_autonomous_emergency_braking parameter",
"type": "object",
"definitions": {
"autoware_autonomous_emergency_braking": {
"type": "object",
"properties": {
"use_predicted_trajectory": {
"type": "boolean",
"description": "Flag to use the predicted path from the control module.",
"default": true
},
"use_imu_path": {
"type": "boolean",
"description": "Flag to use the predicted path generated by sensor data.",
"default": true
},
"limit_imu_path_lat_dev": {
"type": "boolean",
"description": "Flag to limit the lateral deviation of the IMU path.",
"default": false
},
"limit_imu_path_length": {
"type": "boolean",
"description": "Flag to limit the length of the IMU path.",
"default": true
},
"use_pointcloud_data": {
"type": "boolean",
"description": "Flag to use point cloud data for collision detection.",
"default": true
},
"use_predicted_object_data": {
"type": "boolean",
"description": "Flag to use predicted object data.",
"default": false
},
"use_object_velocity_calculation": {
"type": "boolean",
"description": "Flag to use object velocity calculation. If false, object velocity is set to 0 m/s.",
"default": true
},
"check_autoware_state": {
"type": "boolean",
"description": "Flag to enable or disable Autoware state check.",
"default": true
},
"imu_path_lat_dev_threshold": {
"type": "number",
"description": "Lateral deviation threshold for the IMU path.",
"default": 1.75
},
"min_generated_imu_path_length": {
"type": "number",
"description": "Minimum distance for a predicted path generated by sensors.",
"default": 0.5
},
"max_generated_imu_path_length": {
"type": "number",
"description": "Maximum distance for a predicted path generated by sensors.",
"default": 10.0
},
"imu_prediction_time_horizon": {
"type": "number",
"description": "Time horizon of the predicted path generated by sensors.",
"default": 1.5
},
"imu_prediction_time_interval": {
"type": "number",
"description": "Time interval of the predicted path generated by sensors.",
"default": 0.1
},
"mpc_prediction_time_horizon": {
"type": "number",
"description": "Time horizon of the predicted path generated by MPC.",
"default": 4.5
},
"mpc_prediction_time_interval": {
"type": "number",
"description": "Time interval of the predicted path generated by MPC.",
"default": 0.1
},
"publish_debug_pointcloud": {
"type": "boolean",
"description": "Flag to publish the point cloud used for debugging.",
"default": false
},
"publish_debug_markers": {
"type": "boolean",
"description": "Flag to publish debug markers.",
"default": true
},
"detection_range_min_height": {
"type": "number",
"description": "Minimum height of detection range used to avoid ghost braking by false positives.",
"default": 0.0
},
"detection_range_max_height_margin": {
"type": "number",
"description": "Margin for maximum height of detection range used to avoid ghost braking.",
"default": 0.0
},
"voxel_grid_x": {
"type": "number",
"description": "Downsampling parameter for x-axis in the voxel grid filter.",
"default": 0.1
},
"voxel_grid_y": {
"type": "number",
"description": "Downsampling parameter for y-axis in the voxel grid filter.",
"default": 0.1
},
"voxel_grid_z": {
"type": "number",
"description": "Downsampling parameter for z-axis in the voxel grid filter.",
"default": 0.5
},
"expand_width": {
"type": "number",
"description": "Expansion width of the ego vehicle for collision checking, path cropping, and speed calculation.",
"default": -0.2
},
"path_footprint_extra_margin": {
"type": "number",
"description": "Extra margin added to the ego vehicle footprint for cropping the point cloud.",
"default": 1.0
},
"speed_calculation_expansion_margin": {
"type": "number",
"description": "Expansion width of the ego vehicle footprint used for speed calculation.",
"default": 0.7
},
"cluster_tolerance": {
"type": "number",
"description": "Maximum allowable distance between two points in the same cluster.",
"default": 0.15
},
"cluster_minimum_height": {
"type": "number",
"description": "Minimum height of a cluster to be considered as a target.",
"default": 0.1
},
"minimum_cluster_size": {
"type": "integer",
"description": "Minimum number of points in a cluster to be considered as a target.",
"default": 10
},
"maximum_cluster_size": {
"type": "integer",
"description": "Maximum number of points in a cluster to be considered as a target.",
"default": 10000
},
"longitudinal_offset_margin": {
"type": "number",
"description": "Longitudinal offset distance for collision checking.",
"default": 1.0
},
"t_response": {
"type": "number",
"description": "Response time for the ego vehicle to detect a decelerating object.",
"default": 1.0
},
"a_ego_min": {
"type": "number",
"description": "Maximum deceleration value of the ego vehicle.",
"default": -3.0
},
"a_obj_min": {
"type": "number",
"description": "Maximum deceleration value of objects.",
"default": -1.0
},
"collision_keeping_sec": {
"type": "number",
"description": "Time duration to keep detecting a collision.",
"default": 3.0
},
"previous_obstacle_keep_time": {
"type": "number",
"description": "Time duration to keep the previous obstacle detected.",
"default": 1.0
},
"aeb_hz": {
"type": "number",
"description": "Frequency at which the AEB module operates.",
"default": 10.0
}
},
"required": [
"use_predicted_trajectory",
"use_imu_path",
"publish_debug_markers",
"detection_range_min_height",
"voxel_grid_x",
"expand_width"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/autoware_autonomous_emergency_braking"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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