Object detection range not long enough

[ahsan155]

I am using lidar data from carla simulation to do object detection. I copied some code from autoware-carla interface.
I have three lidar attached to vehicle with following attributes

    lidar_bp = blueprint_library.find('sensor.lidar.ray_cast')
    lidar_bp.set_attribute('range', '100')
    lidar_bp.set_attribute('channels', '64')
    lidar_bp.set_attribute('points_per_second', '500000')
    lidar_bp.set_attribute('upper_fov', '10.0')
    lidar_bp.set_attribute('lower_fov', '-30.0')
    lidar_bp.set_attribute('rotation_frequency', '20')
    lidar_bp.set_attribute('sensor_tick', '0.05')
    lidar_bp.set_attribute('noise_stddev', '0.0')

lidar is releasing enough data for localization to work without any issue.
But lidar_centerpoint which does 3d object detection with pointcloud data is not detecting object at long enough range. The maximum range it is detecting is 20m-30m. I want detection range to be much larger (70m-100m). I updated centerpoint_ml_package.param.yaml config file. But It doesn't help.
Currently, I have the following parameter

/**:
  ros__parameters:
    model_params:
      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
      point_feature_size: 4
      max_voxel_size: 60000
      point_cloud_range: [-100.8, -100.8, -4.0, 100.8, 100.8, 6.0] 
      voxel_size: [0.1, 0.1, 10.0] # [0.32, 0.32, 10.0]
      downsample_factor: 1
      encoder_in_feature_size: 9
      has_variance: false
      has_twist: false

I saw that as object gets far away, number of pcd points on objects go down. So, I lowered voxel size in voxel grid downsampling configuration of pointcloud-preprocessor. But that did not help either.

I was able to do long range detection by editing voxel_size and max_voxel_size in centerpoint_ml_package.param.yaml . But after rebuilding autoware, its not working anymore. Back then I was using a single lidar (points_per_second=1,000,000)

How can I fix this?

There is a vehicle by the arrow not being detected.

[ralwing]

Take a look also at clustering configuration:

autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml