9.0.1
Description
Abstract
porting autowarefoundation/autoware.universe#10030.
use vel state for acc state calculation of SimModelDelaySteerVel
Background
fix the scenario fails in https://tier4.atlassian.net/browse/RT1-9039
this caused by introducing acc condtion
96/98(2025/01/14) -> 64/98(2025/01/15) (degraded!!)
Details
Currently, the vel input control is used to calculate the acc state. However, the input values can fluctuate, sometimes resulting in a large acc state.
In this PR, I’ve changed the calculation method so that the acc state is now based on the vel state, which is computed using a first-order lag filter.
before
after
References
How was this PR tested?
-
print the acc value in scenario simulator v2
-
96/98(2025/01/14) -> 64/98(2025/01/15) (degraded!! introduce acc fail condition) ->
96/98 (2025/01/28 (with #1516)