feat(autoware_multi_object_tracker): set maximum reverse velocity to bicycle and crtv motion models #9019
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revert the tracker orientation when the velocity exceed the maximum reverse velocity Signed-off-by: Taekjin LEE <[email protected]> refactor: Update motion model parameters for bicycle and CTRV motion models
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perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
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max_reverse_vel is expected to be negative Signed-off-by: Taekjin LEE <[email protected]>
Signed-off-by: Taekjin LEE <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9019 +/- ##
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- Coverage 26.19% 26.19% -0.01%
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Files 1302 1302
Lines 96917 96933 +16
Branches 39174 39179 +5
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- Misses 68959 68975 +16
Partials 2570 2570
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…bicycle and crtv motion models (autowarefoundation#9019) * feat: Add maximum reverse velocity to bicycle and CTRV motion models revert the tracker orientation when the velocity exceed the maximum reverse velocity Signed-off-by: Taekjin LEE <[email protected]> refactor: Update motion model parameters for bicycle and CTRV motion models * refactor: check the max_reverse_vel configuration is correct max_reverse_vel is expected to be negative Signed-off-by: Taekjin LEE <[email protected]> * refactor: remove config checker in the initializer Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Signed-off-by: prakash-kannaiah <[email protected]>
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Description
Revert the tracker orientation when the velocity exceed the maximum reverse velocity
The tracking object orientation is determined by the initial object orientation.
If the initial object yaw was reversed (180 deg rotated), and the object moves forward, the object is tracked as reversed direction.
This mismatch can cause yaw instability in case of the bicycle motion model.
The screenshot shows trackedObjects. Triangles of the bounding box corners indicates front of the object.
The right object heads left upper side but its velocity is right bottom side. This shows the object is reversed motion.
If the detector has high confidence of its headings, this situation can be trusted. But, the current lidar-based detection has high error rate on its headings.
Considering the current Autoware implementation (the map_based_prediction fixes the object to head its velocity direction anyway), fixing the orientation with a certain threshold is feasible.
If the object is reversed and it reaches a threshold ( -5 kmph by default), the tracked object will be flipped and heads forward to its velocity vector.
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.