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I'm currently looking at the Autoware documentation, and I got some questions regarding velocity planning as below:
Q1. When the obstacles are ignored(no surrounding NPCS, ...), is it possible to infer a velocity at some point directly(=not running the driving scenario) with any of Autoware's component?
For this question, I focused on the data type Path and Trajectory, as they contain a velocity information.
So I mainly investigated behavior velocity planner and motion velocity planner, as they outputs those types of data, but when I checked the documentation of those components, inferring a velocity at some point seems not directly supported since they require information which can be obtained while running the driving scenario(e.g., sensor data, acceleration of the ego vehicle). Could you please tell me if my understanding is correct?
Q2. How much are the velocity data from behavior velocity planner and motion velocity planner accurate? behavior velocity planner outputs data, typed Path, and it contains very raw velocity information, which is not accurate.
But when it comes to the data, typed Trajectory, from motion velocity planner, it seems the velocity value is accurate.
I wonder what those values are for, and how much they are similar to the velocity while running the driving scenario.
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Hi team,
Thank you for the nice ADS!
I'm currently looking at the Autoware documentation, and I got some questions regarding velocity planning as below:
Q1. When the obstacles are ignored(no surrounding NPCS, ...), is it possible to infer a velocity at some point directly(=not running the driving scenario) with any of Autoware's component?
For this question, I focused on the data type
Path
andTrajectory
, as they contain a velocity information.So I mainly investigated behavior velocity planner and motion velocity planner, as they outputs those types of data, but when I checked the documentation of those components, inferring a velocity at some point seems not directly supported since they require information which can be obtained while running the driving scenario(e.g., sensor data, acceleration of the ego vehicle). Could you please tell me if my understanding is correct?
Q2. How much are the velocity data from
behavior velocity planner
andmotion velocity planner
accurate?behavior velocity planner
outputs data, typedPath
, and it contains very raw velocity information, which is not accurate.But when it comes to the data, typed
Trajectory
, frommotion velocity planner
, it seems the velocity value is accurate.I wonder what those values are for, and how much they are similar to the velocity while running the driving scenario.
Thank you!
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