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feat: disable the localization noises when ego speed is slow #1542

Merged
merged 5 commits into from
Mar 7, 2025
Merged

feat: disable the localization noises when ego speed is slow #1542

merged 5 commits into from
Mar 7, 2025

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xtk8532704
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@xtk8532704 xtk8532704 commented Mar 5, 2025 •
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Description

Put a limit on the localization noise: disable noise when the ego speed < speed_threshold

Abstract

Put a limit on the localization noise: when the ego speed < speed_threshold, the localization noises are not applied.

Background

The ego can't engage when enable_keep_stopped_until_steer_convergence is true and the localization noises are applied.

Details

In a real environment, the ego can engage because the localization noises stabilize at a fixed value if the vehicle stops.
So we also want to stop localization noises when the ego stops.

Test results in the basic planning scenarios:
Before: 3792/3815 (pass/all)
After: 3817/3820 (pass/all)

References

None

Destructive Changes

None

Known Limitations

None

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github-actions bot commented Mar 5, 2025 •
edited by yamacir-kit
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Checklist for reviewers ☑️

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  • If this pull request contains a destructive change, does this pull request contain the migration guide?
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@xtk8532704 xtk8532704 changed the title fix: disable the localization noises when ego speed is slow feat: disable the localization noises when ego speed is slow Mar 5, 2025
@xtk8532704 xtk8532704 marked this pull request as ready for review March 6, 2025 02:02
@xtk8532704 xtk8532704 requested a review from yamacir-kit March 6, 2025 02:02
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sonarqubecloud bot commented Mar 7, 2025

Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
60.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

@yamacir-kit yamacir-kit added the bump patch If this pull request merged, bump patch version of the scenario_simulator_v2 label Mar 7, 2025
@yamacir-kit yamacir-kit merged commit 7d00a57 into master Mar 7, 2025
16 checks passed
@github-actions github-actions bot deleted the xtk/loc-noise-exp branch March 7, 2025 08:26
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@yamacir-kit yamacir-kit yamacir-kit approved these changes

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bump patch If this pull request merged, bump patch version of the scenario_simulator_v2 small feature wait for regression test
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@xtk8532704 @yamacir-kit @t4-adc