search

esmini / esmini

a basic OpenSCENARIO player
Mozilla Public License 2.0
765 stars 219 forks source link

maxLateralAcc is not respected in both domains scenario #201

Closed DNMotoShiba closed 2 years ago

DNMotoShiba commented 2 years ago

In scenarios that longitudinal and lateral domains occur simultaneously, the maxLateralAcc is not respected.

I'm using esmini v2.18.2.

both-domains.xosc.txt

In this scenario, the following will occur simultaneously

Plotting Esmini's CSV, the Acc-Y exceeds 0.25

image

log.csv

(FYI) comment out SpeedAction the attached OSC, the maxLateralAcc is respected. image

eknabevcc commented 2 years ago

Thanks for clear report. Good timing. The equations for action dynamics has been kind of ad-hoc. This report and some ongoing discussions regarding the equations inspired to some rework of the esmini action dynamics implementation altogether. Primary commit 18359d28df9573e8617f72e5590a8961f3330d8f but with b5101f438b51cebe735bdf9436e8060e5137a1e8 also vehicle performance specification is taking into account. These changes are now merged on master and will be part of next release.

Now running your scenario gives the following output, which I think looks more correct: acc_both acc_y

Please test when possible and report back whether you get expected result or not.

eknabevcc commented 2 years ago

Included in release 2.19.0.

DNMotoShiba commented 2 years ago

Thank you very much. I tested with v2.19.1. I got the results I expected. It is excellent! 🙇

eknabevcc commented 2 years ago

Good to hear. Thanks for reporting back test result!