-
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
feat(multi_object_tracker): suppress yaw rotation oscillation problem in bicycle tracking model #4146
Conversation
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## main #4146 +/- ##
=======================================
Coverage 14.11% 14.11%
=======================================
Files 1444 1444
Lines 101920 101920
Branches 27197 27197
=======================================
Hits 14387 14387
Misses 71766 71766
Partials 15767 15767
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
Outdated
Show resolved
Hide resolved
This reverts commit d97db40.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
LGTM
… in bicycle tracking model (autowarefoundation#4146) * enable only tracking and prediction Signed-off-by: yoshiri <[email protected]> * set bicycle model parameter to be understeered Signed-off-by: yoshiri <[email protected]> * Revert "enable only tracking and prediction" This reverts commit d97db40. --------- Signed-off-by: yoshiri <[email protected]>
… in bicycle tracking model (autowarefoundation#4146) * enable only tracking and prediction Signed-off-by: yoshiri <[email protected]> * set bicycle model parameter to be understeered Signed-off-by: yoshiri <[email protected]> * Revert "enable only tracking and prediction" This reverts commit d97db40. --------- Signed-off-by: yoshiri <[email protected]>
Description
This PR is aiming to change bicycle model parameter at the
tracker model defined in #2679.
Changing this parameter toward understeer makes the vehicle less likely to rotate, thus reducing the problem of exaggerated Yaw rotation during tracking.
Why unintended rotation is happened
The kinematic bicycle model predicts yaw angle with following equation:
Since the slip angle$\beta$ is not directly measured, phase delayed estimation can easily cause oscillation or overshooting.$\frac{v_{k}}{l_{r}} \sin \beta_{k} d t$ by increasing $l_r$ .
One quick and safe fix for this problem could be that just lower this yaw update rate
Qualitatively, this change would show similar results to lowering the gain in estimation.
How the parameter is determined?
The parameters have so far been determined empirically, and have been adjusted to strongly reduce the gain of the Large Vehicle, which has been particularly problematic in the test cases, to the extent that it does not show significant physical inconsistencies.
In the future, the model selection and parameters will be modifiable in rosparam.
Tests performed
Tested in both rosbag and dummy perception generator.
See TIER IV internal link.
For those who are concerned about the ability to follow the curve properly with lower gain, the tracking results in such a case are illustrated in the figure below.
The curves are still being tracked without any problems after this change.
Effects on system behavior
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.