fix(multi_object_tracker): bicycle motion model - set minimum wheel-to-center length #6337
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…ability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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… wheel-to-center length (autowarefoundation#6337)" This reverts commit 7a53913.
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…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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* chore(build): remove tier4_autoware_utils.hpp perception/ (autowarefoundation#4843) removed tier4_autoware_utils.hpp in perception/ Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> * feat(multi_object_tracker): mot bicycle model revision (autowarefoundation#6082) * fix: bicycle model length on big vehicle Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rear axis position fix in all modalities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: repeat predict to limit dt Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: implement repeating prediction to all modalities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: bicycle model revision Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: fix centripetal acceleration, jacobian Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: equation on description, velocity index fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: markdown math Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor params Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: model slip process rate Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: yaw rate limits Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor vx to vel, follow actual definition Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: acceleration uncertainty equation fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: twist covariance matrix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: explanations of Kalman filter matrices Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: slip angle process noise model revised Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: parameter tuning Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: use mahalanobis distance gate with larger threshold Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align tracker format Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(multi_object_tracker): bicycle motion model - set minimum wheel-to-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Taekjin LEE <technolojin@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
karishma1911
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Jun 3, 2024
…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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Description
When detected object type is cylinder, it has no length.
The current tracker always updates its bounding box dimension, and then update the wheel-to-center lengths.
This fix limits the wheel-to-center lengths
lr_andlf_to have a minimum values, so that the prediction do not divide very small number.Tests performed
Tested on Tier4 deployment environment and its data replay.
Effects on system behavior
Not applicable.
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