-
Notifications
You must be signed in to change notification settings - Fork 639
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Add a validation node for the planning trajectory #2605
Comments
cc. @yukkysaito @xmfcx |
I think it's a good idea to add one. |
Ok. In the first phase, the validator node focus only on the online checks (curvature, acceleration, etc). The offline validation item could be something regarding the map, kinematics parameters, etc. We should discuss this further. |
This pull request has been automatically marked as stale because it has not had recent activity. |
@TakaHoribe I guess this issue can be closed? |
This can be closed with these PRs. |
Checklist
Description
Sometimes, a faulty path is published due to the poor quality of the planning. This can cause the vehicle to behave abnormally in terms of steering, acceleration, and braking. It is important to continually improve the quality of the planning, but we also need to implement a validation system to ensure the quality of the paths being published.
Purpose
To avoid publishing abnormal paths.
Possible approaches
A planning validator node is introduced at the final stage of the planning process. The node validates the trajectory and stops publishing if it is invalid.
The planning node diagram would be like below:
planning_modules
->planning_validator
->control
.Definition of done
A validation mechanism of the planning is in the autoware.
The text was updated successfully, but these errors were encountered: