Vehicle goes out of the road when turning

[MarioAlmelaUMH]

Hello, I'm encountering a problem in the Ego's driving when it approaches a curve. The Ego steers too much, causing it to invade the other lanes when turning or go on the pavement.

When there's no obstacles, the Ego sometimes recovers and continues driving, however in the majority of the curves in Town01 and Town02, there's obstacles in the pavement (like street lights and posts) that cause the Ego to become stuck. This is also a problem when dummy vehicles are involved in the scenario.

In this image, the Ego is stuck when turning. This happens on many other curves in this map.

The problem seems to be that the Ego turns too much, it makes the curve overly open. Is there any configuration options in the control nodes that can be adjusted to allow the Ego to take narrower turns? What could be the cause of this behaviour? The Ego drives just fine when the trajectory is straight.

Thank you in advance.

[maxime-clem]

First please let me confirm your setup:

• You are using a recent version of Autoware.
• You are using the CARLA simulator.
• You are using the carla_autoware package to interface between CARLA and Autoware.

The issue itself is most likely caused by the controller not being properly tuned for the CARLA vehicle.
If you want you can try tuning the parameters of the MPC lateral controller following this guide: https://autowarefoundation.github.io/autoware.universe/main/control/autoware_mpc_lateral_controller/#how-to-tune-mpc-parameters

[MarioAlmelaUMH]

I'm using Carla version 0.9.15 and Autoware version 2024.01. As for the interface between them, I'm using this bridge: https://github.com/TUMFTM/Carla-Autoware-Bridge. I don't know how this bridge relates to the carla_autoware package.

However, I'll try the option you suggested. Thanks for the quick answer.

[MarioAlmelaUMH]

I'm trying to adjust the MPC lateral parameters according to the guide, but it doesn't seem to change anything. The vehicle still goes out of its lane while turning. I'm launching the e2e simulation, does that use the MPC controller, or the pure pursuit one? Is there any other steps I should take?

[maxime-clem]

If you are able to record a short rosbag during the turn I can check for any obvious issue.
Otherwise the possible things to check:

• accuracy of the vehicle status (especially steering rate);
• mapping between control command to vehicle actuation;
• rate of the control command;
• rate of the vehicle status (especially steering rate).

[MarioAlmelaUMH]

Ok, thanks for the quick answer. I will check these points and try to record a rosbag to clarify the problem.