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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
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feat(vehicle_model_bicycle_kinematics): change calculation method for predicted_trajectory #8879

Open shtokuda opened 2 months ago

shtokuda commented 2 months ago

Description

In this PR, I fixed the predicted trajectory derived from mpc's outputs. With the previous calculation method, predicted_trajectories oscillate when a vehicle is running at low speed. I use steer_angle derived from mpc output instead of Euler integration.

Related links

Parent Issue:

How was this PR tested?

I checked in Psim white: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate sky blue: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory orange: /control/trajectory_follower/lateral/predicted_trajectory output.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions[bot] commented 2 months ago

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shtokuda commented 2 months ago

If we only compute world coordinates, we can use the mpc result without integrating for the theta value. However, when I tested using theta from the mpc result in Psim, predicted_trajectories were not that different from integrating.