fix(planning_validator): cherry-pick numerically safe calculation of max lateral acceleration for MRM check #1209
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…autowarefoundation#5049) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
…ampling trajectory (autowarefoundation#6679) fix planning validator calc max lat acc after resampling Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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Description
Cherry-pick from autowarefoundation#6679
Related JIRA Ticket: https://tier4.atlassian.net/browse/RT0-29352
In the planning validator, among other checks, the max lateral acceleration is calculated and checked whether it is larger than 1G [m/s^2] or not from an input of trajectory. The lateral accelerations are calculated from longitudinal velocities and curvatures at every trajectory points.
The validation function in the planning validator includes two internal trajectory variables, namely
trajectory, an input from the motion velocity smoother which is densely sampled near the ego and sparsely sampled otherwise with the policy explained here , andresampled, representing the same path astrajectorybut wholly sparsely resampled with the interval of 1~2m.This PR puts the lateral acceleration check process after resampling of trajectory for the purpose of numerically safer calculations of curvatures.
Also, the way of calculating curvatures is cherry-picked from https://github.com/autowarefoundation/autoware.universe 's
calcCurvature.
Tests performed
I confirmed the normal operation with the latest version of Autoware in the planning simulation here.
Effects on system behavior
The plot on the upper right of the image blow is a comparison of max lateral acceleration calculated from
trajectory(before change, red) andresampled(after change, blue). The red one becomes larger than 1G [m/s^2] but blue one is smoother and safe from the MRM check.Note the above comparison is done with the version https://github.com/tier4/autoware.universe/tree/beta/v0.11.2 and commit ID 3e02320 .
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