feat(multi_object_tracker): tune system noise to suppress yaw oscilla…

…tion (autowarefoundation#4679) * tune system noise to surpress yaw ossilation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Aug 30, 2023 · 667fdd9 · 667fdd9
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commit 667fdd9
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Showing 3 changed files with 4 additions and 4 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
@@ -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]

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
@@ -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]
@@ -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);
 }

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
@@ -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]