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Improve the lateral acceleration filter in motion velocity smoother #1163
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priority:high
High urgency and importance.
type:new-feature
New functionalities or additions, feature requests.
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I tested the both approach with Results (Before is current implementation, after is implementation with new approach):
With new approach, maximum, total, average lateral errors decreased. Related issue: #567 |
7 tasks
Closed because of #1242 |
kyoichi-sugahara
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Mar 5, 2024
…avoidance feat(avoidance): wait next shift approval until the ego reaches shift length threshold (autowarefoundation#6501)
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Labels
priority:high
High urgency and importance.
type:new-feature
New functionalities or additions, feature requests.
Checklist
Description
Discussion
In current implementation of lateral acceleration filtering in trajectory, we are estimating the curvature by selecting three point. Then, we are calculating the lateral acceleration with this curvature estimation. See here!
I want to suggest a new approach to estimate the curvature in trajectory points. We can estimate the curvature by using the orientation of trajectory points. I think orientation can give more accurate results because it is output of optimization.
Purpose
Improve the velocity calculation of trajectory w.r.t. lateral acceleration limit.
Possible approaches
We can calculate the desired steering angle with following equation:
![desired_steering_angle_eq](https://user-images.githubusercontent.com/45468306/173042936-fca51004-0e18-4789-a1f9-f8878d93b39b.svg)
After calculate the desired steering angles,
tan(steering_angle) / wheelbase
will give us the curvature of the trajectory point. We can set the velocities w.r.t. this calculation.Definition of done
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