feat(ekf_localizer): ignore dead band of velocity sensor

[kminoda]

Description

Current Autoware is not capable of dealing the dead zone in velocity sensors, which is a common phenomena we may encounter with some HW. This potentially could cause several issues especially around planning & control modules.

As the most simple solution, I would like to modify EKF so that it will ignore velocity when the observed velocity is below a certain threshold. It is set 0.0 by default, in which case it will not affect the system at all.

Let's say we have a velocity sensor which will be 0.0 [m/s] when the velocity is below 0.5 [m/s]. In such case, I recommend to set the threshold_observable_velocity_mps to 0.5.

Related links

Must be merged after autowarefoundation/autoware_launch#574

• INTERNAL LINK

Tests performed

Feed Autoware a velocity sensor with the value less that 0.5[m/s] rounded into 0.0[m/s]. (Note that the caption is wrong for the following figures)

With the default value (the same performance as the original EKF), we can see that the estimated velocity shows very similar behavior as the input sensor data.

By setting the appropriate value as threshold_observable_velocity_mps: 0.5, we observe that the performance improves, albeit not perfectly.

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[codecov]

Codecov Report

Patch coverage: 29.41% and project coverage change: +0.04% 🎉

Comparison is base (aae343b) 15.71% compared to head (d13c107) 15.76%.
Report is 6 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5042      +/-   ##
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+ Coverage   15.71%   15.76%   +0.04%     
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  Files        1579     1581       +2     
  Lines      109343   109508     +165     
  Branches    34110    34216     +106     
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+ Hits        17183    17263      +80     
+ Misses      73247    73228      -19     
- Partials    18913    19017     +104     

Flag	Coverage Δ		*Carryforward flag
differential	27.54% <29.41%> (?)
total	15.72% <ø> (+0.01%)	⬆️	Carriedforward from aae343b

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
..._localizer/include/ekf_localizer/ekf_localizer.hpp	0.00% <ø> (ø)
...calizer/include/ekf_localizer/hyper_parameters.hpp	0.00% <0.00%> (ø)
localization/ekf_localizer/src/ekf_localizer.cpp	0.00% <0.00%> (ø)
localization/stop_filter/src/stop_filter.cpp	0.00% <0.00%> (ø)
...racker/src/tracker/model/linear_motion_tracker.cpp	0.00% <ø> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	7.81% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...nner/utils/lane_change/lane_change_module_data.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	12.99% <ø> (+0.22%)	⬆️
...h_planner/src/scene_module/lane_change/manager.cpp	5.58% <ø> (+0.23%)	⬆️
... and 6 more

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