How to implement vehicle following and vehicle passing using Autoware stack

[nsakar]

I would like to implement vehicle following where the car as a robot reduces speed depending on moving car in front. What ros nodes will help implement this?

I would like to also implement vehicle passing wherein if there is a stationary object on trajectory, then car will pass it. How do I implement this?

Also is it possible to use only lidar and euclieden clustering for object detection and then influence velocity_set node to make decisions on stopping or resuming driving?

[sgzzgit]

Is your testbed a real vehicle?

[nsakar]

yes

From: sgzzgit [mailto:notifications@github.com]
Sent: Tuesday, June 14, 2016 1:05 AM
To: CPFL/Autoware Autoware@noreply.github.com
Cc: Sarkar, Nandini nandini.sarkar@intel.com; Author author@noreply.github.com
Subject: Re: [CPFL/Autoware] How to implement vehicle following and vehicle passing using Autoware stack (#357)

Is your testbed a real vehicle?

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[sgzzgit]

I am trying to achieve that too.However there is still no progress.
Anyone could answer this question ? @shinpei0208
Thanks in advance.

[sgzzgit]

Anyone concerns this question?

[nsakar]

I would like an answer to the question.

Regards

Nandini

From: sgzzgit [mailto:notifications@github.com]
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Cc: Sarkar, Nandini nandini.sarkar@intel.com; Author author@noreply.github.com
Subject: Re: [CPFL/Autoware] How to implement vehicle following and vehicle passing using Autoware stack (#357)

Anyone concerns this question?

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[sgzzgit]

It seems that you have solved this problem,is it? @nsakar

[nsakar]

Vehicle following and collision avoidance using vscan points : Yes

Vehicle passing : No. Need more information.

From: sgzzgit [mailto:notifications@github.com]
Sent: Thursday, July 07, 2016 10:33 PM
To: CPFL/Autoware Autoware@noreply.github.com
Cc: Sarkar, Nandini nandini.sarkar@intel.com; Mention mention@noreply.github.com
Subject: Re: [CPFL/Autoware] How to implement vehicle following and vehicle passing using Autoware stack (#357)

It seems that you have solved this problem,is it? @nsakarhttps://github.com/nsakar

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[sgzzgit]

You detected obstacle using velodyne vlp-16?
I am trying to finish collision avoidance using ifv250. Because in my real test, Velodyne lidar could not detect pedestrian and bicycle well. what is the performance in your test? @nsakar

[nsakar]

Yes. I am able to detect all obstacles that are within detection range of waypoints and within height interval [ hc – hf]
I need more info on the ceiling and floor height settings. Is this from the ground or from the localizer pose?
By default it set to +2 , -2. Is this in meters and from ground plane as 0? Or localizer pose plane as 0? I am presuming the heights are on the z axis.

From: sgzzgit [mailto:notifications@github.com]
Sent: Friday, July 08, 2016 6:28 PM
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Cc: Sarkar, Nandini nandini.sarkar@intel.com; Mention mention@noreply.github.com
Subject: Re: [CPFL/Autoware] How to implement vehicle following and vehicle passing using Autoware stack (#357)

You detected obstacle using velodyne vlp-16?
I am trying to finish collision avoidance using ifv250. Because in my real test, Velodyne lidar could not detect pedestrian and bicycle well. what is the performance in your test?

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[thomas3016]

Hi @nsakar ,I read the source code of vscan, I don't understand the meaning of rotlength,rotheight,and maxBackDistance and svsback,can you help me? Thank you for advance!
Regards

[shinpei0208]

@alexanderhmw, are you online?
2016/07/10 10:08 "thomas3016" notifications@github.com:

Hi @nsakar https://github.com/nsakar ,I read the source code of vscan,
I don't understand the meaning of rotlength,rotheight,and maxBackDistance
and svsback,can you help me? Thank you for advance!
Regards

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[alexanderhmw]

Hi Kato-sensei , i am traveling now. I will add comment to vscan soon after getting back

Sent from my iPhone

On Jul 10, 2016, at 6:24 AM, Shinpei Kato notifications@github.com wrote:

@alexanderhmw, are you online?
2016/07/10 10:08 "thomas3016" notifications@github.com:

Hi @nsakar https://github.com/nsakar ,I read the source code of vscan,
I don't understand the meaning of rotlength,rotheight,and maxBackDistance
and svsback,can you help me? Thank you for advance!
Regards

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[shinpei0208]

Thx!
2016/07/10 22:49 "HMW-Alexander" notifications@github.com:

Hi Kato-sensei , i am traveling now. I will add comment to vscan soon
after getting back

Sent from my iPhone

On Jul 10, 2016, at 6:24 AM, Shinpei Kato notifications@github.com
wrote:

@alexanderhmw, are you online?
2016/07/10 10:08 "thomas3016" notifications@github.com:

Hi @nsakar https://github.com/nsakar ,I read the source code of
vscan,
I don't understand the meaning of rotlength,rotheight,and
maxBackDistance
and svsback,can you help me? Thank you for advance!
Regards

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[alexanderhmw]

I need more info on the ceiling and floor height settings. Is this from the ground or from the localizer pose?
By default it set to +2 , -2. Is this in meters and from ground plane as 0? Or localizer pose plane as 0? I am presuming the heights are on the z axis.

Please check https://github.com/CPFL/Autoware/issues/394. Yes the heights are on the z axis.

I don't understand the meaning of rotlength,rotheight,and maxBackDistance and svsback,can you help me?

rot* is the corresponding length and height after rotating the coordinate (Fig. 3 right) for downslope obstacle detection. The paper present on researchgate is not the latest version. Please check IV16 for the camera-ready version.

maxBackDistance and svsback are kind of patch to solve the overhung obstacle bug. They will keep the extension of road surface from the interruption of near overhung obstacles.