Improve Stopping Behavior Reliability

[msmcconnell]

Types of Issue

• [ ] Anomaly report (something appears to not work correctly)
• [x] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

For the WorkZone use case the vehicle's need to come to a stop at a Red light. This works semi reliably, however, if the vehicle overshoots it results in an error. Additionally, the location of stopping is very inconsistent (0-10 ft of variability). The stop and wait plugin and or the relevant strategic plugins should be updated to stop more reliably. Previous investigations pointed to the trajectory replanning behavior to be at least partly to blame as is created small bumps in command speed which impacted the speed control loop. To help analyze this, AStuff sent Leidos a ROS Bag containing a stable and repeatable stopping behavior from Autoware.ai. This bag should be analyzed and compared with our own performance to identify the source of the issues and a plan developed to resolve them in support of TSMO Use Cases 1-3.

Carma version where this issue was discovered

3.8.0

Expected behavior

Vehicle stops reliably within 5ft of the same point each run. Vehicle control commands are smooth. Vehicle can repeatedly stop 9/10 without operator override.

Actual behavior

See description

Steps to reproduce the actual behavior

Run workzone use case at TFHRC. Stopping behavior can also be observed at the end of the route.

Related work