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-2. Turning around by ego vehicle affect the output from radar.
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####2. Turning around by ego vehicle affect the output from radar
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When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) compensates by the ego vehicle twist.
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So if an object detected by radars has circular motion viewing from base_link, it is likely that the speed is estimated incorrectly and that the object is a static object.
Copy file name to clipboardexpand all lines: perception/autoware_radar_object_clustering/README.md
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### Algorithm
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-1. Sort by distance from `base_link`
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####1. Sort by distance from `base_link`
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At first, to prevent changing the result from depending on the order of objects in DetectedObjects, input objects are sorted by distance from `base_link`.
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In addition, to apply matching in closeness order considering occlusion, objects are sorted in order of short distance in advance.
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-2. Clustering
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####2. Clustering
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If two radar objects are near, and yaw angle direction and velocity between two radar objects is similar (the degree of these is defined by parameters), then these are clustered.
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Note that radar characteristic affect parameters for this matching.
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After grouping for all radar objects, if multiple radar objects are grouping, the kinematics of the new clustered object is calculated from average of that and label and shape of the new clustered object is calculated from top confidence in radar objects.
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-3. Fixed label correction
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####3. Fixed label correction
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When the label information from radar outputs lack accuracy, `is_fixed_label` parameter is recommended to set `true`.
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If the parameter is true, the label of a clustered object is overwritten by the label set by `fixed_label` parameter.
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If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to `VEHICLE`.
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-4. Fixed size correction
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####4. Fixed size correction
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When the size information from radar outputs lack accuracy, `is_fixed_size` parameter is recommended to set `true`.
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If the parameter is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters.
Copy file name to clipboardexpand all lines: planning/autoware_path_optimizer/docs/mpt.md
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To realize collision-free trajectory planning, we have to formulate constraints that the vehicle is inside the road and also does not collide with obstacles in linear equations.
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For linearity, we implemented some methods to approximate the vehicle shape with a set of circles, that is reliable and easy to implement.
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