17.3.0
Description
Abstract
Aiming for more natural detection noise, this pull request implements noise v4.
Until noise v3, position noise was only available in the radial direction, but in noise v4 it will also be introduced in the tangential direction. Also, while noise was previously applied to the base-link of the target entity, noise v4 is applied to the point closest to the ego vehicle for more realistic.
Additionally, the feature introduced in noise v3 that allows separate settings for user-defined entity group has been implemented in noise v4.
Note
noise v4 is not a complete replacement for noise v3.
Please understand the characteristics of each before using it.
noise_v4.mp4
Background
The noise v4 is defined and requested by one of Autoware developing teams in TIER IV to evaluate Autoware perception and planning modules with scenario_simulator_v2.
Details
noise coordinate
- Origin: the closest point on the entity's bounding box from the ego base-link
- Y-axis (radial direction): From the ego base-link to the origin
- X-axis (tangential direction): Perpendicular to the Y-axis in a right-handed coordinate system
parameters for noise v4
You can configure noise v4 parameters in ros2 parameter file like below.
v4:
no_noise_to_all:
noise_application_entities:
types: ["*"]
subtypes: ["*"]
names: ["*"]
position:
x:
autocorrelation_coefficient:
amplitude: 0.0
decay: 0.0
offset: 0.0
mean: 0.0
standard_deviation: 0.0
y:
autocorrelation_coefficient:
amplitude: 0.0
decay: 0.0
offset: 0.0
mean: 0.0
standard_deviation: 0.0
rotation:
autocorrelation_coefficient:
amplitude: 0.0
decay: 0.0
offset: 0.0
mean: 0.0
standard_deviation: 0.0
true_positive:
autocorrelation_coefficient:
amplitude: 0.0
decay: 0.0
offset: 0.0
rate:
distance_thresholds: [ 1000.0 ]
values: [ 1.0 ]For detail, please refer to Parameters.md.