fix(autoware_multi_object_tracker): stabilize bicycle model slip #10264
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…angle in state prediction Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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Description
Apply exponential decay to slip angle over time, with a half-life (2 seconds).
The current bicycle motion model assumes constant turn rate. However, it can cause slip angle instability, oscillation or divergence. Especially, the oscillation or divergence occurs with high turn-rate object and newly spawned object, normally has high covariance of yaw.
Therefore, the decay is introduced to mitigate this system instability.
Related links
Parent Issue:
How was this PR tested?
TIER IV INTERNAL
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.