feat(simple_sensor_simulator): use vel state for acc state calculation of SimModelDelaySteerVel #1516
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: kosuke55 <[email protected]>
|
This PR edits vehicle model that is copied from simple_planning_simulator. Please consider making changes to the original code to avoid confusion or consult developers (@hakuturu583, @yamacir-kit and @HansRobo ). |
kosuke55
changed the title
HansRobo
added
wait for regression test
bump patch
|
|
HansRobo
approved these changes
Jan 31, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Abstract
porting autowarefoundation/autoware.universe#10030.
use vel state for acc state calculation of SimModelDelaySteerVel
Background
fix the scenario fails in https://tier4.atlassian.net/browse/RT1-9039
this caused by introducing acc condtion
96/98(2025/01/14) -> 64/98(2025/01/15) (degraded!!)
Details
Currently, the vel input control is used to calculate the acc state. However, the input values can fluctuate, sometimes resulting in a large acc state.
In this PR, I’ve changed the calculation method so that the acc state is now based on the vel state, which is computed using a first-order lag filter.
before
after
References
How was this PR tested?
print the acc value in scenario simulator v2
96/98(2025/01/14) -> 64/98(2025/01/15) (degraded!! introduce acc fail condition) ->
96/98 (2025/01/28 (with feat(simple_sensor_simulator): use vel state for acc state calculation of SimModelDelaySteerVel #1516)
Destructive Changes
Known Limitations