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_tracker
• constant_turn_rate_motion_tracker

Default settings for each tracker are defined in the ./config/tracking/, and described in models.md.

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts