question about accel_brake_calibration

[dajiba6]

I found in the official Autoware documentation that the accel_brake_calibration in Autoware seems to be a function similar to modifying the map based on an existing calibration table，but how the initial map is obtained? or am I misunderstanding this?

[maxime-clem]

You are correct that an existing calibration table is needed.

https://autowarefoundation.github.io/autoware.universe/main/vehicle/autoware_accel_brake_map_calibrator/

The base map, which is lexus's one by default, is updated iteratively with the loaded driving data.

You can find the base maps here: https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/autoware_accel_brake_map_calibrator/data

[dajiba6]

Thank you! my friend. So, actually Autoware doesn't provide an algorithm that can build a calibration table from zero?

[maxime-clem]

Autoware doesn't provide an algorithm that can build a calibration table from zero?

Correct. There is a PR to add a ML-based calibration tool which (I think) does not require an initial calibration table: autowarefoundation/autoware.universe#6897