F1Tenth-Lab2

This is a repo for F1Tenth Lab 2 Assignment which implements Automatic Emergency Brake(AEB) using Time to Collision(TTC) Algorithm.

Dependeices for Running Locally

• ROS Melodic
  • Ubuntu click here for installation instructions
• F1TENTH Simulator
  • click here for installation instructions

Basic Build Instructions

1. Clone this repo into catkin_ws/src.
2. Build the ROS package: catkin build safety.
3. Launch it: roslaunch safety AEB_simulation.

Problem and Suggested modifications

1. The collision during turning is still possible as the lidar sensing until TTC calculation still need a period of time. (We can slow down the speed during turning, or come out with higher TCC thersold during turning)