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michigan-traffic-lab / Mcity-AV-Challenge

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How to check the constraints and make it align with the testing environment #9

Closed ZelinQian closed 2 months ago

ZelinQian commented 2 months ago

I have been actively trying some work for this challenge recently. However, I encountered a problem that I found difficult to solve:

I obtained the planning results in my own algorithm and tested them in the environment. It's frustrating that I often get errors due to failed constraint checks, such as: Warning: The overall jerk (12) is higher than the maximum jerk (10)

I try to calculate indicators like jerk and acceleration in my own algorithm and make them satisfy the constraints. But it does not work. That is to say that although the results passed my checking program, they often fail to pass the algorithm of the testing environment.

May I ask if it is possible to publicly disclose the inspection of kinematic parameters in the environment, so that participants can check their results as expected?

zhuhj-tery commented 2 months ago

There is one thing you could double-check: the overall jerk is defined as the combination of the longitudinal jerk and the lateral jerk. Your longitudinal jerk may be small but the lateral jerk is so large that the overall jerk reaches the limit.

zhuhj-tery commented 2 months ago

We have uploaded the rule checking function "vehicle_rule_checking.py" to the subfolder "utils." Please let us know if you have any questions.

ZelinQian commented 2 months ago

We have uploaded the rule checking function "vehicle_rule_checking.py" to the subfolder "utils." Please let us know if you have any questions.

Thanks so much! I will check it again ^_^