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Does autoware support dynamic objects following(ACC)?

asked 2020-01-20 01:10:20 -0600

Klaus123 gravatar image

As far as I know, autoware provides several algorithms for waypoints planner, which output /final_waypoints. But I have only seen these algorithms applied to static objects(demo videos), so I wonder whether they can be applied to dynamic objects following(similar to adaptive cruise control). Or are there other dedicated modules for doing this? Any help would be appreciated.

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answered 2020-01-26 21:22:36 -0600

Josh Whitley gravatar image

The velocity_set package uses lidar data to detect objects which are within a specified radius of the upcoming waypoints. If a vehicle is in the intended path of your testing vehicle, it will be detected by velocity_set and stop a (configurable) distance from that obstacle. If the obstacle (vehicle) then moves away, your vehicle will begin moving forward again until the gap between the vehicles is below a specific threshold, and then stop. However, this only truly works (and has been tested in) very low-speed environments and is more of a TJA (traffic-jam-assist) than a real ACC.

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Thanks for the response. It's clear and helpful.

Klaus123 gravatar imageKlaus123 ( 2020-01-30 02:38:59 -0600 )edit

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Asked: 2020-01-20 01:10:20 -0600

Seen: 14 times

Last updated: Jan 26