Propose protective area checker. Please give us feedback as you may access the control system in a different pipeline than before.
The proposed function is to detect an obstacle in a specific area close to the vehicle and immediately stop (or slow down). When used for emergency stop, a simple implementation and minimal pipeline would be desirable.
The outline is described below.
- Emergency stop or slowdown trigger for obstacles in close range
Range of detection
- Range where the vehicle passes in a short time (approximately 0.5-1 [sec])
- LiDAR point cloud after noise and ground removal (not using advanced recognition)
- Current speed / angular speed
- (Target speed / angular speed)
- (Target acceleration / angular acceleration)
- Trigger for emergency stop / slowdown
- Detected point cloud (only for visualize or debug)