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hatem-darweesh / op_bridge

OpenPlanner ROS based bridge for CARLA Simulator and Scenario Runner
MIT License
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Problem of Large Tracking Error in Reverse Trajectory #33

Open PaddyChann opened 2 months ago

PaddyChann commented 2 months ago

Hello everyone,

I am using Autoware Universe Galactic and Carla 0.9.13. For trajectory tracking, I am using MPC, and for path planning, I am using A* algorithm. The vehicle model I am using is the dynamic model.

Currently, I am facing the following issue: While moving forward, I have adjusted the mpc_weight_lat_error parameter of MPC and achieved good tracking performance. However, when reversing, I have tried various mpc_weight_lat_error parameters but still cannot achieve good tracking performance. I have adjusted the parameters according to the Autoware MPC lateral controller documentation, ranging from small to large, and even though oscillations started appearing, I still could not achieve good tracking performance. The vehicle stops and replans the path due to excessive lateral error. Switching the vehicle model to the kinematic model improves the performance slightly, but the tracking is still not ideal.

I would like to ask if anyone has encountered this issue and how to resolve it. Thank you.

backward_issue

JSGforever commented 1 month ago

I have encountered the same issue as you. I have tried many different carla-autoware bridges and made some code modifications, but the trajectory follow effect during reverse parking has always been poor. I suspect that the issue lies with the control module of autoware universe. When performing reverse control during parking, the control module should adjust some parameters, but autoware seems to not make these adjustments and instead uses the same approach as with forward control. This idea needs further validation.