IMM UKF PDA track: Speed data is not accurate
Hi, guys.
I am new to Autoware and currently I am working with the IMM UKF PDA track node for collecting traffic data.
The node itself works fine and it does return me the detected object orientation and speed. However, this only works when my AV is on parking (non-moving state). When my AV is moving, relatively, IMM UKF PDA track will consider all surrounding objects are moving with respect of AV's own movements.
As a result, even the parked cars will be given a speed which is clearly wrong.
I wish if anyone encounter the same thing can give me a hint, say the node itself is lacking the ability of handling such issue, or I just didn't set up the node correctly.
Please let me know, thank you very much!