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 velocity_reliable from DetectedObject is mandatory to have.
My suggestion would be to replace the closest_object_velocity in Lane by a a field closest_obstacle of the type DetectedObject.
We would still need to keep the closest_object_distance because it’s not included in the DetectedObject.
What do you think ?
Thanks !