update and add parameter about radar_object_tracker for far away dete…

…ction

Signed-off-by: yoshiri <[email protected]>

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/data_association_matrix.param.yaml

@@ -14,10 +14,10 @@
     max_dist_matrix:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
       [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
-       4.0,     4.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
-       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       4.0,     8.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     6.0, 8.0,   8.0,  8.0,     1.0,       1.0,     1.0,       #TRAILER
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml

@@ -1,9 +1,9 @@
 /**:
   ros__parameters:
-    car_tracker: "linear_motion_tracker"
-    truck_tracker: "linear_motion_tracker"
-    bus_tracker: "linear_motion_tracker"
-    trailer_tracker: "linear_motion_tracker"
-    pedestrian_tracker: "linear_motion_tracker"
-    bicycle_tracker: "linear_motion_tracker"
-    motorcycle_tracker: "linear_motion_tracker"
+    car_tracker: "constant_turn_rate_motion_tracker"
+    truck_tracker: "constant_turn_rate_motion_tracker"
+    bus_tracker: "constant_turn_rate_motion_tracker"
+    trailer_tracker: "constant_turn_rate_motion_tracker"
+    pedestrian_tracker: "constant_turn_rate_motion_tracker"
+    bicycle_tracker: "constant_turn_rate_motion_tracker"
+    motorcycle_tracker: "constant_turn_rate_motion_tracker"

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml

@@ -4,12 +4,11 @@
     # basic settings
     world_frame_id: "map"
     tracker_lifetime: 1.0  # [sec]
-    # if empty, use default config declared in this package
-    tracking_config_directory: ""
+    measurement_count_threshold: 3 # object will be published if it is tracked more than this threshold
 
     # delay compensate parameters
     publish_rate: 10.0
-    enable_delay_compensation: false
+    enable_delay_compensation: true
 
     # logging
     enable_logging: false
@@ -18,10 +17,10 @@
     # filtering
     ## 1. distance based filtering: remove closer objects than this threshold
     use_distance_based_noise_filtering: true
-    minimum_range_threshold: 70.0 # [m]
+    minimum_range_threshold: 60.0 # [m]
 
     ## 2. lanelet map based filtering
     use_map_based_noise_filtering: true
     max_distance_from_lane: 5.0 # [m]
     max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
-    max_lateral_velocity: 5.0 # [m/s]
+    max_lateral_velocity: 7.0 # [m/s]

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/constant_turn_rate_motion_tracker.yaml

@@ -0,0 +1,36 @@
+default:
+  # This file defines the parameters for the linear motion tracker.
+  # All this parameter coordinate is assumed to be in the vehicle coordinate system.
+  # So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle.
+  ekf_params:
+    # random walk noise is used to model the acceleration noise
+    process_noise_std: # [m/s^2]
+      x: 0.5
+      y: 0.5
+      yaw: 0.1
+      vx: 1.0 # assume 1m/s velocity noise
+      wz: 0.4
+    measurement_noise_std:
+      x: 4.0 # [m]
+      y: 4.0 # [m]
+      # y: 0.02 # rad/m if use_polar_coordinate_in_measurement_noise is true
+      yaw: 0.2 # [rad]
+      vx: 10 # [m/s]
+    initial_covariance_std:
+      x: 3.0 # [m]
+      y: 6.0 # [m]
+      yaw: 10.0 # [rad]
+      vx: 100.0 # [m/s]
+      wz: 10.0 # [rad/s]
+  # input flag
+  trust_yaw_input: false # set true if yaw input of sensor is reliable
+  trust_twist_input: false # set true if twist input of sensor is reliable
+  use_polar_coordinate_in_measurement_noise: false # set true if you want to define the measurement noise in polar coordinate
+  assume_zero_yaw_rate: false # set true if you want to assume zero yaw rate
+  # output limitation
+  limit:
+    max_speed: 80.0 # [m/s]
+  # low pass filter is used to smooth the yaw and shape estimation
+  low_pass_filter:
+    time_constant: 1.0 # [s]
+    sampling_time: 0.1 # [s]

autoware_launch/config/perception/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml

@@ -7,22 +7,28 @@ default:
     process_noise_std: # [m/s^2]
       ax: 0.98 # assume 0.1G acceleration noise
       ay: 0.98
-      vx: 0.1 # assume 0.1m/s velocity noise
-      vy: 0.1
+      vx: 1.0 # assume 1m/s velocity noise
+      vy: 1.0
       x: 1.0 # assume 1m position noise
       y: 1.0
     measurement_noise_std:
       x: 0.6 # [m]
-      y: 0.9 # [m]
-      vx: 0.4 # [m/s]
-      vy: 1 # [m/s]
+      # y: 4.0 # [m]
+      y: 0.01 # rad/m if use_polar_coordinate_in_measurement_noise is true
+      vx: 10 # [m/s]
+      vy: 100 # [m/s]
     initial_covariance_std:
       x: 3.0 # [m]
       y: 6.0 # [m]
-      vx: 1.0 # [m/s]
-      vy: 5.0 # [m/s]
-      ax: 0.5 # [m/s^2]
-      ay: 1.0 # [m/s^2]
+      vx: 1000.0 # [m/s]
+      vy: 1000.0 # [m/s]
+      ax: 1000.0 # [m/s^2]
+      ay: 1000.0 # [m/s^2]
+    estimate_acc: false # set true if you want to estimate the acceleration
+  # input flag
+  trust_yaw_input: false # set true if yaw input of sensor is reliable
+  trust_twist_input: false # set true if twist input of sensor is reliable
+  use_polar_coordinate_in_measurement_noise: true # set true if you want to define the measurement noise in polar coordinate
   # output limitation
   limit:
     max_speed: 80.0 # [m/s]

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -85,6 +85,10 @@
       name="object_recognition_tracking_radar_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_radar_object_tracker_tracking_config_directory_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/tracking/"
+    />
     <arg
       name="object_recognition_tracking_object_merger_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml"