All calculations for planning and control side are made for 2D

[brkay54]

cc. @mehmetdogru @TakaHoribe @takayuki5168 @mitsudome-r
Hello everyone,
Currently, we are trying to run Autoware in our vehicle on very hilly roads. However, some problems have appeared because a lot of calculations are made for 2D. For example, while driving on high-slope roads, we are getting more FF gain because of 2D calculation (because of 2d projection of the road, the distance between waypoints is calculated as smaller values and it causes higher acceleration values for TrajectoryPoints.).

I want to suggest that we should refactor all nodes (especially planning and control) by changing some calculations for 3D. What do you think?

[mehmetdogru]

Since it will be more accurate and if no drawbacks it makes sense to me. Could you give more detail? Because calculating the distance between two waypoints in 2D and 3D is not very much of a work. Is there anything else you want to point out?

[takayuki5168]

@brkay54 cc @mehmetdogru @TakaHoribe
Some articles say when the slope angle is 5.7 degrees, it's called a steep slope.
In this case, the difference in waypoints' distance when assuming 2D and 3D is only 0.4%, and even when the slope angle is 11.3 degrees, the difference is 2%, which I think is enough small to ignore.

To drive on a steep slope, I feel the important thing is slope compensation in the controller rather than fixing 2D planning.

These are what I felt first about dealing with the steep slope. If you think the problem is the planning side, could you give me the reason.

[TakaHoribe]

@brkay54 Thank you for giving the discussion.

For example, while driving on high-slope roads, we are getting more FF gain because of 2D calculation

Do you use slope compensation? There are two options for the slope compensation:

• calculate the slope using the z-position of the trajectory (it is more accurate, but it requires a precise HD map)
• calculate the slope from the pitch angle (relatively unstable, but it does not require a precise HD map)

These both are working well in our environment. Would you give me more detail of your problem?

[TakaHoribe]

Of course, I agree that it is better to do all calculations in 3D. But I guess you have a more critical problem in the slope compensation or conversion between the target acceleration to your control command.

[nainaigetuide]

@TakaHoribe What is the critical problem you are referring to？