Merge pull request #393 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Apr 26, 2024 · 567dba0 · 567dba0
2 parents efef020 + b6cfbac
commit 567dba0
Showing 1 changed file with 5 additions and 1 deletion.
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
@@ -3,6 +3,7 @@
     publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
+    path_footprint_extra_margin: 4.0
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
     voxel_grid_x: 0.05
@@ -14,9 +15,12 @@
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
+    cluster_tolerance: 0.1 #[m]
+    minimum_cluster_size: 10
+    maximum_cluster_size: 10000
     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
+    collision_keeping_sec: 2.0
     aeb_hz: 10.0