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A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Wrong IMU Ay lateral acceleration output | ROS1! #1983

Open JeyP4 opened 2 years ago

JeyP4 commented 2 years ago

I tried several times with IMU + AWF Lexus RX 2016. Placing IMU near the CG. And performing a steady circle maneuver.

In steady-state conditions, Ay should be V.ω or V.V/R. where V is longitudinal velocity, ω is angular velocity and R is curvature radius. I found IMY's Ay is ~20 times smaller than what is expected in the above relations.

Does anybody feel the same? Or am I wrong somewhere?

I have to check with other cars also.

JeyP4 commented 2 years ago

Yes, I checked with Jaguar2015 also. Lateral acceleration is incorrect. Probably there is somewhere in source IVehicleDynamics.velocity.x that needs to be fixed. Maybe centripetal acceleration is not considered while computing Ay.

Any comment is welcome.