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TUMFTM / Carla-Autoware-Bridge

Carla 0.9.15 and Autoware Universe Humble
GNU Lesser General Public License v3.0
136 stars 19 forks source link

Vehicle goes out of the road when turning #35

Open MarioAlmelaUMH opened 2 months ago

MarioAlmelaUMH commented 2 months ago

Hello, I'm encountering a problem in the Ego's driving when it approaches a curve. The Ego steers too much, causing it to invade the other lanes when turning or go on the pavement.

When there's no obstacles, the Ego sometimes recovers and continues driving, however in the majority of the curves in Town01 and Town02, there's obstacles in the pavement (like street lights and posts) that cause the Ego to become stuck. This is also a problem when dummy vehicles are involved in the scenario.

TurningError In this image, the Ego is stuck when turning. This happens on many other curves in this map.

The problem seems to be that the Ego turns too much, it makes the curve overly open. Is there any configuration options in the control nodes that can be adjusted to allow the Ego to take narrower turns? What could be the cause of this behaviour? The Ego drives just fine when the trajectory is straight.

Thank you in advance.

TUMGEKA commented 1 month ago

Hey Mario! It looks like you pulled our old version via dockerhub. Can you try to rebuild the bridge docker yourself and see if that solves your problem?