feat(autonomous_emergency_braking): add obstacle velocity estimation …

…for aeb (autowarefoundation#978)

* rebase to awf main

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* set debug PC as false

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* dictionary

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* eliminate duplicate parameter

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* eliminate duplicate parameter

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -1,26 +1,38 @@
 /**:
   ros__parameters:
-    publish_debug_pointcloud: false
+    # Ego path calculation
     use_predicted_trajectory: true
-    use_imu_path: true
-    path_footprint_extra_margin: 4.0
+    use_imu_path: false
+    min_generated_path_length: 0.5
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
+
+    # Debug
+    publish_debug_pointcloud: false
+
+    # Point cloud partitioning
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0
     voxel_grid_x: 0.05
     voxel_grid_y: 0.05
     voxel_grid_z: 100000.0
-    min_generated_path_length: 0.5
+
+    # Point cloud cropping
     expand_width: 0.1
+    path_footprint_extra_margin: 4.0
+
+    # Point cloud clustering
+    cluster_tolerance: 0.1 #[m]
+    minimum_cluster_size: 10
+    maximum_cluster_size: 10000
+
+    # RSS distance collision check
     longitudinal_offset: 2.0
     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: 2.0
+    previous_obstacle_keep_time: 1.0
     aeb_hz: 10.0