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feat(multi_object_tracker): tune system noise to suppress yaw oscillation #4679

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Aug 23, 2023
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feat(multi_object_tracker): tune system noise to suppress yaw oscillation #4679

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8b501ea
tune system noise to surpress yaw ossilation
YoshiRi Aug 19, 2023
fa308ec
style(pre-commit): autofix
pre-commit-ci[bot] Aug 21, 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 @@ -55,7 +55,7 @@ BicycleTracker::BicycleTracker(
float q_stddev_y = 0.6; // [m/s]
float q_stddev_yaw = tier4_autoware_utils::deg2rad(10); // [rad/s]
float q_stddev_vx = tier4_autoware_utils::kmph2mps(10); // [m/(s*s)]
float q_stddev_slip = tier4_autoware_utils::deg2rad(25); // [rad/(s*s)]
float q_stddev_slip = tier4_autoware_utils::deg2rad(15); // [rad/(s*s)]
float r_stddev_x = 0.6; // [m]
float r_stddev_y = 0.4; // [m]
float r_stddev_yaw = tier4_autoware_utils::deg2rad(30); // [rad]
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4 changes: 2 additions & 2 deletions perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
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Expand Up @@ -54,7 +54,7 @@ BigVehicleTracker::BigVehicleTracker(
float q_stddev_y = 1.5; // [m/s]
float q_stddev_yaw = tier4_autoware_utils::deg2rad(20); // [rad/s]
float q_stddev_vx = tier4_autoware_utils::kmph2mps(10); // [m/(s*s)]
float q_stddev_slip = tier4_autoware_utils::deg2rad(20); // [rad/(s*s)]
float q_stddev_slip = tier4_autoware_utils::deg2rad(5); // [rad/(s*s)]
float r_stddev_x = 1.5; // [m]
float r_stddev_y = 0.5; // [m]
float r_stddev_yaw = tier4_autoware_utils::deg2rad(30); // [rad]
Expand Down 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 = 0.1; // under steered if smaller than 0.5
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/normal_vehicle_tracker.cpp
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Expand Up @@ -54,7 +54,7 @@ NormalVehicleTracker::NormalVehicleTracker(
float q_stddev_y = 1.0; // object coordinate [m/s]
float q_stddev_yaw = tier4_autoware_utils::deg2rad(20); // map coordinate[rad/s]
float q_stddev_vx = tier4_autoware_utils::kmph2mps(10); // object coordinate [m/(s*s)]
float q_stddev_slip = tier4_autoware_utils::deg2rad(20); // object coordinate [rad/(s*s)]
float q_stddev_slip = tier4_autoware_utils::deg2rad(5); // object coordinate [rad/(s*s)]
float r_stddev_x = 1.0; // object coordinate [m]
float r_stddev_y = 0.3; // object coordinate [m]
float r_stddev_yaw = tier4_autoware_utils::deg2rad(30); // map coordinate [rad]
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