refactor: update yaw rate limit in object model

tier4 · Sep 30, 2024 · 6e8b201 · 6e8b201
1 parent 1acc4b3
commit 6e8b201
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Showing 4 changed files with 6 additions and 3 deletions.
diff --git a/..._multi_object_tracker/include/autoware/multi_object_tracker/object_model/object_model.hpp b/..._multi_object_tracker/include/autoware/multi_object_tracker/object_model/object_model.hpp
@@ -144,6 +144,7 @@ class ObjectModel
         process_limit.acc_long_max = const_g;
         process_limit.acc_lat_max = const_g;
         process_limit.vel_long_max = kmph2mps(140.0);
+        process_limit.yaw_rate_max = deg2rad(15.0);
 
         // initial covariance
         initial_covariance.pos_x = sq(1.0);
@@ -188,6 +189,7 @@ class ObjectModel
         process_limit.acc_long_max = const_g;
         process_limit.acc_lat_max = const_g;
         process_limit.vel_long_max = kmph2mps(140.0);
+        process_limit.yaw_rate_max = deg2rad(15.0);
 
         // initial covariance
         initial_covariance.pos_x = sq(1.5);
@@ -232,6 +234,7 @@ class ObjectModel
         process_limit.acc_long_max = const_g;
         process_limit.acc_lat_max = const_g;
         process_limit.vel_long_max = kmph2mps(120.0);
+        process_limit.yaw_rate_max = deg2rad(15.0);
 
         // initial covariance
         initial_covariance.pos_x = sq(0.8);

diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp
@@ -97,7 +97,7 @@ BicycleTracker::BicycleTracker(
   // Set motion limits
   {
     const double max_vel = object_model_.process_limit.vel_long_max;
-    const double max_slip = object_model_.bicycle_state.slip_angle_max;
+    const double max_slip = object_model_.process_limit.yaw_rate_max;
     motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
   }
 

diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
@@ -112,7 +112,7 @@ BigVehicleTracker::BigVehicleTracker(
   // Set motion limits
   {
     const double max_vel = object_model_.process_limit.vel_long_max;
-    const double max_slip = object_model_.bicycle_state.slip_angle_max;
+    const double max_slip = object_model_.process_limit.yaw_rate_max;
     motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
   }
 

diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp
@@ -114,7 +114,7 @@ NormalVehicleTracker::NormalVehicleTracker(
   // Set motion limits
   {
     const double max_vel = object_model_.process_limit.vel_long_max;
-    const double max_slip = object_model_.bicycle_state.slip_angle_max;
+    const double max_slip = object_model_.process_limit.yaw_rate_max;
     motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
   }