feat(autoware_diffusion_planner): gradual drift and deviation on turns and reducing jitter - #3239
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Co-authored-by: Cursor <cursoragent@cursor.com>
…ram updates Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
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| const float track_cost = this->params_.track_coeff * track_val * 10.0F; | ||
| const float heading_cost = | ||
| this->params_.heading_coeff * computeHeadingValue(yaw, NUM_TIMESTEPS - 1) * 10.0F; |
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Not related to the PR, but why multiply by 10.0F here ?
| void seedNominalControl(const Trajectory & reference, const size_t start_idx) | ||
| { | ||
| // After a tracking reset, step_count is 0 and u_opt was cleared — fall back to DP seed. | ||
| if (use_last_control_as_nominal && step_count > 0) { |
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(future PR) If the input reference changes a lot we should also reset the step_count to 0.
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…s and reducing jitter (tier4/autoware_universe#3239) * feat(mppi): fix for gradual drift Co-authored-by: Cursor <cursoragent@cursor.com> * using coloured noise; changed reference to be time-based tracking; param updates Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * param update; removed unecessary projections Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * new tunings after test Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * fix to plots Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * fixes Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * updates to debug Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * changes for adding lateral error to cost structure Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * fixes Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> * fix Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> --------- Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp> Co-authored-by: Cursor <cursoragent@cursor.com>
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A work in progress to address bad tracking issues
https://tier4.atlassian.net/browse/PDDP-403
https://tier4.atlassian.net/browse/PDDP-404