Radar Object Tracker#
Purpose#
This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.
Inner-workings / Algorithms#
This radar object tracker is a combination of data association and tracking algorithms.
Data Association#
The data association algorithm matches detected objects to existing tracks.
Tracker Models#
The tracker models used in this package vary based on the class of the detected object. See more details in the models.md.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input |
autoware_auto_perception_msgs::msg::DetectedObjects |
Detected objects |
/vector/map |
autoware_auto_msgs::msg::HADMapBin |
Map data |
Output#
| Name | Type | Description |
|---|---|---|
~/output |
autoware_auto_perception_msgs::msg::TrackedObjects |
Tracked objects |
Parameters#
Node Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
publish_rate |
double | 10.0 | The rate at which to publish the output messages |
world_frame_id |
string | "map" | The frame ID of the world coordinate system |
enable_delay_compensation |
bool | false | Whether to enable delay compensation. If set to true, output topic is published by timer with publish_rate. |
tracking_config_directory |
string | "./config/tracking/" | The directory containing the tracking configuration files |
enable_logging |
bool | false | Whether to enable logging |
logging_file_path |
string | "/tmp/association_log.json" | The path to the file where logs should be written |
tracker_lifetime |
double | 1.0 | The lifetime of the tracker in seconds |
use_distance_based_noise_filtering |
bool | true | Whether to use distance based filtering |
minimum_range_threshold |
double | 70.0 | Minimum distance threshold for filtering in meters |
use_map_based_noise_filtering |
bool | true | Whether to use map based filtering |
max_distance_from_lane |
double | 5.0 | Maximum distance from lane for filtering in meters |
max_angle_diff_from_lane |
double | 0.785398 | Maximum angle difference from lane for filtering in radians |
max_lateral_velocity |
double | 5.0 | Maximum lateral velocity for filtering in m/s |
can_assign_matrix |
array | An array of integers used in the data association algorithm | |
max_dist_matrix |
array | An array of doubles used in the data association algorithm | |
max_area_matrix |
array | An array of doubles used in the data association algorithm | |
min_area_matrix |
array | An array of doubles used in the data association algorithm | |
max_rad_matrix |
array | An array of doubles used in the data association algorithm | |
min_iou_matrix |
array | An array of doubles used in the data association algorithm |
See more details in the models.md.
Tracker parameters#
Currently, this package supports the following trackers:
linear_motion_trackerconstant_turn_rate_motion_tracker
Default settings for each tracker are defined in the ./config/tracking/, and described in models.md.