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feat(multi_object_tracker): suppress yaw rotation oscillation problem in bicycle tracking model #4146

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merged 3 commits into from
Jul 4, 2023
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feat(multi_object_tracker): suppress yaw rotation oscillation problem in bicycle tracking model #4146

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d97db40
enable only tracking and prediction
YoshiRi Jun 29, 2023
e5974f1
set bicycle model parameter to be understeered
YoshiRi Jul 3, 2023
8aa670f
Revert "enable only tracking and prediction"
YoshiRi Jul 3, 2023
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2 changes: 1 addition & 1 deletion perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ BicycleTracker::BicycleTracker(
ekf_.init(X, P);

// Set lf, lr
double point_ratio = 0.5; // comes to front if larger
double point_ratio = 0.2; // under steered if smaller than 0.5
lf_ = bounding_box_.length * point_ratio;
lr_ = bounding_box_.length * (1.0 - point_ratio);
}
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2 changes: 1 addition & 1 deletion perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
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Expand Up @@ -150,7 +150,7 @@ BigVehicleTracker::BigVehicleTracker(
setNearestCornerOrSurfaceIndex(self_transform); // this index is used in next measure step

// Set lf, lr
double point_ratio = 0.5; // comes to front if larger
double point_ratio = 0.1; // under steered if smaller than 0.5
lf_ = bounding_box_.length * point_ratio;
lr_ = bounding_box_.length * (1.0 - point_ratio);
}
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2 changes: 1 addition & 1 deletion perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
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Expand Up @@ -150,7 +150,7 @@ NormalVehicleTracker::NormalVehicleTracker(
setNearestCornerOrSurfaceIndex(self_transform); // this index is used in next measure step

// Set lf, lr
double point_ratio = 0.5; // comes to front if larger
double point_ratio = 0.2; // under steered if smaller than 0.5
lf_ = bounding_box_.length * point_ratio;
lr_ = bounding_box_.length * (1.0 - point_ratio);
}
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