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@github-actions github-actions released this 18 Dec 03:28
· 33 commits to main since this release
v1.8.0
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Learn about vigilant mode.

Configurable Target Lateral Acceleration

When first introduced mtsc used a constant of 2.0 m/s^2 with the expectation that if you wanted to use other values it should be done with the curvature outputs. V1.8.0 introduces a configuration param to set a desired target lateral acceleration so that you can continue reading the target velocity outputs. View the documentation for configuring this value here.

Logging Levels

Up to now mapd has had a reputation for having "noisy" logs. v1.8.0 introduces improved logging that allows for configurable logging levels. The default level also significantly cuts down on the amount of log output from mapd. Other improvements are a move towards structured logging to enable easier searching of data when looking for bugs. Finally, the logs also include stack traces with the errors to make finding the location in the code that is erroring significantly easier. The documentation for configuring the logs can be viewed here.

Improved Next Way Detection

In OSM roads are split into multiple sections called "ways". In some cases when trying to find the next way mapd would incorrectly choose a way that was merging into the current one. The reason for this is that the method of detecting which way resulted in the straightest path didn't take into account the direction of the road, this means that a 180 degree change in direction was treated the same as a 0 degree change in direction, thus being considered "straight". The detection process was updated to instead calculate the curvature that would result from driving from the current way onto the candidate way. This means that we can just check for which way results in the smallest amount of curvature and that will be equivalent to the straightest path to continue on. This improvement should be most noticeable on exit ramps that have merges.

What's Changed

  • improve logs and add logging levels by @pfeiferj in #35
  • don't reset current and next way when crossing bounds by @pfeiferj in #36
  • use curvatures to determine the most straight next way by @pfeiferj in #37
  • configurable target lat accel by @pfeiferj in #38

Full Changelog: v1.7.5...v1.8.0

Contributors

pfeiferj
Assets 3
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