MishkaMN
commented
3 months ago It was discovered that the URDF is wrong:
<!-- base_link -> vehicle_front Transform vehicle_front is FLU-->
<joint name="base_link_to_vehicle_front" type="fixed">
<parent link="base_link" />
<child link="vehicle_front" />
<origin xyz="4 0 0.57" rpy="0 0 0" />
</joint>where it should be something like xyz="2.25 ..." from measuring in foxglove:
Summary
During VRU validation testing, it was common behavior for simulation vehicle to speed up aggressively during turn because the minimum speed was set high intentionally. However, sometimes despite the vehicle not overshooting out of the road, platform still shut down detecting that it was out of the road.
This is because all tactical plugins use the front bumper to generate trajectory and the front bumper location is incorrect. Following picture is platform (green box) in an intersection making a turn.
A: Center of mass B: Actual front bumper C: what platform thinks the front bumper is
As you can see despite B being inside the curving bounds of the turn, vehicle_front (C) is not. This makes the system shut down detecting that the vehicle went out of the bounds.
Another issue that arises from this is vehicle stopping way before stop bar despite tuning all parameters to stop close to the stop bar on red traffic signal, which was observed during integration testing, but it such scenario was not included in the validation testing.
Version
4.5.0 (Current)
Expected Behavior
Platform should not detect out of bounds erroneously.
Actual Behavior
Platform sometimes shuts down due to erroneously detecting that it is out of the road.
Steps to Reproduce the Actual Behavior
Issue is intermittent due to the stochastic nature of the runs. However, running left turn scenario of VRU would reproduce this.
Related Work
Jira: https://usdot-carma.atlassian.net/browse/CAR-6041 No response