Hello everyone, I am currently using autoware.ai. For the obstacle detection we are using the
imm_ukf_pda_track which works quite well for us.
The tracker will output a DetectedObstacle. Our planner will get this message alongside the lane and then output Lane messages. The Lane messaage has some fieds that are related to the closest obstacle like
float32 closest_object_distance and
float32 closest_object_velocity. But those fields are not the only useful fields related to obstacle detection. For example, to me the
DetectedObject is mandatory to have.
My suggestion would be to replace the
Lane by a a field
closest_obstacle of the type
We would still need to keep the
closest_object_distance because it’s not included in the
What do you think ?