Planning very sensitive to vehicle vibrations, frequently fails.

[josh-wende]

Using Apollo 7.0:

When driving autonomously, the vehicle very frequently stops because a planning cycle fails due to the Piecewise Jerk Nonlinear Speed Optimizer determining that the QP problem is infeasible. I have determined that this happens when the vehicle shakes, presumably since the IMU velocity/acceleration values jump around during shaking. I can't figure out why I am having this issue now when I never did before, any insight into what might be causing this is greatly appreciated.