feat(multi_object_tracker): suppress yaw rotation oscillation problem…

… 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]>
tier4 · Aug 23, 2023 · 2e9ca11 · 2e9ca11
1 parent 9bec9a6
commit 2e9ca11
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -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);
 }

diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -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);
 }

diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -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);
 }