Control Validator#
The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.
Supported features#
The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.
| Description | Arguments | Diagnostic equation |
|---|---|---|
| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity \(v\), target velocity \(\hat{v}\), and velocity parameter \(c\) | \(v \hat{v} < 0, \quad \lvert v \rvert > c\) |
| Overspeed: Measured speed exceeds target speed significantly. | measured velocity \(v\), target velocity \(\hat{v}\), ratio parameter \(r\), and offset parameter \(c\) | \(\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c\) |
- Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Inputs/Outputs#
Inputs#
The control_validator takes in the following inputs:
| Name | Type | Description |
|---|---|---|
~/input/kinematics |
nav_msgs/Odometry | ego pose and twist |
~/input/reference_trajectory |
autoware_planning_msgs/Trajectory | reference trajectory which is outputted from planning module to to be followed |
~/input/predicted_trajectory |
autoware_planning_msgs/Trajectory | predicted trajectory which is outputted from control module |
Outputs#
It outputs the following:
| Name | Type | Description |
|---|---|---|
~/output/validation_status |
control_validator/ControlValidatorStatus | validator status to inform the reason why the trajectory is valid/invalid |
/diagnostics |
diagnostic_msgs/DiagnosticStatus | diagnostics to report errors |
Parameters#
The following parameters can be set for the control_validator:
System parameters#
| Name | Type | Description | Default value |
|---|---|---|---|
publish_diag |
bool | if true, diagnostics msg is published. | true |
diag_error_count_threshold |
int | the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) | true |
display_on_terminal |
bool | show error msg on terminal | true |
Algorithm parameters#
Thresholds#
The input trajectory is detected as invalid if the index exceeds the following thresholds.
| Name | Type | Description | Default value |
|---|---|---|---|
thresholds.max_distance_deviation |
double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 |
thresholds.rolling_back_velocity |
double | threshold velocity to valid the vehicle velocity [m/s] | 0.5 |
thresholds.over_velocity_offset |
double | threshold velocity offset to valid the vehicle velocity [m/s] | 2.0 |
thresholds.over_velocity_ratio |
double | threshold ratio to valid the vehicle velocity [*] | 0.2 |