Autoware Openplanner Following behaviour
Hello,
I am trying to follow a car smoothly using Autoware 1.13 (oap5) and Openplanner. Here is my config file : https://pastebin.com/8CtzAN7b
Here are two examples of the current status of the following using LG sim :
- https://youtu.be/b82LVp7XFIU
- https://youtu.be/RCA9-B6nKVo (
enableSwerving = true
,rollOutsNumber = 0
) - https://youtu.be/E9YwDL6G9Bg (
additionalBrakingDistance = 25.0
)
As you can see its not very good :
- The speed is not smooth.
- I could reduce
maxAcceleration
andmaxDeceleration
but would it stop in time if there is an obstacle or if the leading car emergency brake ?
- I could reduce
- The car will drive until being dangerousely close, then stop, then go again.
- The following distance is not smooth
How could I improve the smoothness and the behavior of the car so it follows the leading car smoothly ?
Also I have noticed these problems when stopping before a static obstacle :
- Sometimes the car will stop at some distance
- How is this distance defined ? Which parameter ?
- Sometimes the car will stop when the obstacle reach the safety box, sometimes before.
- Why ?
Can you give your opinion here @Hatem ? Would the next version of OP help ?
Thanks a lot