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IMM UKF PDA track: Speed data is not accurate

asked 2020-02-09 15:43:21 -0600

Kratos_Omega gravatar image

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!

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answered 2020-02-11 13:35:55 -0600

Josh Whitley gravatar image

updated 2020-02-11 13:37:01 -0600

@Kratos_Omega From looking through the documentation and code for that node, it looks like it does not currently support an offset associated with vehicle motion. To do this, you would need to have a localization source (like NDT matching or an IMU or wheel odometry driver) produce something similar to a geometry_msgs/TwistStamped message. You would then have the imm_ukf_pda_node subscribe to that topic and apply the inverse of the measured accelerations in the Twist measurements to the list of targets.

Merge requests are always welcome!

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thx for the help!

Thats what I thought after I check the doc and codes of imm-ukf, but still wanna double check this is not because I set it up incorrectly.

I will checkout how this can be done with your advice.

Kratos_Omega gravatar image Kratos_Omega  ( 2020-02-11 15:49:42 -0600 )edit

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Asked: 2020-02-09 15:43:21 -0600

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Last updated: Feb 11 '20