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autoware_accel_brake_map_calibrator package from autoware_universe repo

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autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The accel_brake_map_calibrator

Additional Links

No additional links.

Maintainers

  • Tomoya Kimura
  • Taiki Tanaka
  • Takeshi Miura
  • Eiki Nagata

Authors

No additional authors.

accel_brake_map_calibrator

The role of this node is to automatically calibrate accel_map.csv / brake_map.csv used in the autoware_raw_vehicle_cmd_converter node.

The base map, which is lexus’s one by default, is updated iteratively with the loaded driving data.

How to calibrate

Launch Calibrator

After launching Autoware, run the autoware_accel_brake_map_calibrator by the following command and then perform autonomous driving. Note: You can collect data with manual driving if it is possible to use the same vehicle interface as during autonomous driving (e.g. using a joystick).

ros2 launch autoware_accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true

Or if you want to use rosbag files, run the following commands.

ros2 launch autoware_accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true use_sim_time:=true
ros2 bag play <rosbag_file> --clock

During the calibration with setting the parameter progress_file_output to true, the log file is output in [directory of autoware_accel_brake_map_calibrator]/config/ . You can also see accel and brake maps in [directory of autoware_accel_brake_map_calibrator]/config/accel_map.csv and [directory of autoware_accel_brake_map_calibrator]/config/brake_map.csv after calibration.

Calibration plugin

The rviz:=true option displays the RViz with a calibration plugin as below.

The current status (velocity and pedal) is shown in the plugin. The color on the current cell varies green/red depending on the current data is valid/invalid. The data that doesn’t satisfy the following conditions are considered invalid and will not be used for estimation since aggressive data (e.g. when the pedal is moving fast) causes bad calibration accuracy.

  • The velocity and pedal conditions are within certain ranges from the index values.
  • The steer value, pedal speed, pitch value, etc. are less than corresponding thresholds.
  • The velocity is higher than a threshold.

The detailed parameters are described in the parameter section.

Note: You don’t need to worry about whether the current state is red or green during calibration. Just keep getting data until all the cells turn red.

The value of each cell in the map is gray at first, and it changes from blue to red as the number of valid data in the cell accumulates. It is preferable to continue the calibration until each cell of the map becomes close to red. In particular, the performance near the stop depends strongly on the velocity of 0 ~ 6m/s range and the pedal value of +0.2 ~ -0.4, range so it is desirable to focus on those areas.

Diagnostics

The accel brake map_calibrator publishes diagnostics message depending on the calibration status. Diagnostic type WARN indicates that the current accel/brake map is estimated to be inaccurate. In this situation, it is strongly recommended to perform a re-calibration of the accel/brake map.

Status Diagnostics Type Diagnostics message Description
No calibration required OK “OK”  
Calibration Required WARN “Accel/brake map Calibration is required.” The accuracy of current accel/brake map may be low.

This diagnostics status can be also checked on the following ROS topic.

ros2 topic echo /accel_brake_map_calibrator/output/update_suggest

When the diagnostics type is WARN, True is published on this topic and the update of the accel/brake map is suggested.

Evaluation of the accel / brake map accuracy

The accuracy of map is evaluated by the Root Mean Squared Error (RMSE) between the observed acceleration and predicted acceleration.

TERMS:

  • Observed acceleration: the current vehicle acceleration which is calculated as a derivative value of the wheel speed.

  • Predicted acceleration: the output of the original accel/brake map, which the Autoware is expecting. The value is calculated using the current pedal and velocity.

You can check additional error information with the following topics.

  • /accel_brake_map_calibrator/output/current_map_error : The error of the original map set in the csv_path_accel/brake_map path. The original map is not accurate if this value is large.
  • /accel_brake_map_calibrator/output/updated_map_error : The error of the map calibrated in this node. The calibration quality is low if this value is large.
  • /accel_brake_map_calibrator/output/map_error_ratio : The error ratio between the original map and updated map (ratio = updated / current). If this value is less than 1, it is desirable to update the map.

How to visualize calibration data

The process of calibration can be visualized as below. Since these scripts need the log output of the calibration, the pedal_accel_graph_output parameter must be set to true while the calibration is running for the visualization.

Visualize plot of relation between acceleration and pedal

The following command shows the plot of used data in the calibration. In each plot of velocity ranges, you can see the distribution of the relationship between pedal and acceleration, and raw data points with colors according to their pitch angles.

ros2 run autoware_accel_brake_map_calibrator view_plot.py

sample pic

Visualize statistics about acceleration/velocity/pedal data

The following command shows the statistics of the calibration:

  • mean value
  • standard deviation
  • number of data

of all data in each map cell.

ros2 run autoware_accel_brake_map_calibrator view_statistics.py

sample pic2

How to save the calibrated accel / brake map anytime you want

You can save accel and brake map anytime with the following command.

ros2 service call /accel_brake_map_calibrator/update_map_dir tier4_vehicle_msgs/srv/UpdateAccelBrakeMap "path: '<accel/brake map directory>'"

You can also save accel and brake map in the default directory where Autoware reads accel_map.csv/brake_map.csv using the RViz plugin (AccelBrakeMapCalibratorButtonPanel) as following.

  1. Click Panels tab, and select AccelBrakeMapCalibratorButtonPanel.

    add_panel

  2. Select the panel, and the button will appear at the bottom of RViz.

    calibrator_button_panel

  3. Press the button, and the accel / brake map will be saved. (The button cannot be pressed in certain situations, such as when the calibrator node is not running.)

    push_calibration_button

Parameters

System Parameters

Name Type Description Default value
update_method string you can select map calibration method. “update_offset_each_cell” calculates offsets for each grid cells on the map. “update_offset_total” calculates the total offset of the map. “update_offset_each_cell”
get_pitch_method string “tf”: get pitch from tf, “none”: unable to perform pitch validation and pitch compensation “tf”
pedal_accel_graph_output bool if true, it will output a log of the pedal accel graph. true
progress_file_output bool if true, it will output a log and csv file of the update process. false
default_map_dir str directory of default map [directory of autoware_raw_vehicle_cmd_converter]/data/default/
calibrated_map_dir str directory of calibrated map [directory of autoware_accel_brake_map_calibrator]/config/
update_hz double hz for update 10.0

Algorithm Parameters

Name Type Description Default value
initial_covariance double Covariance of initial acceleration map (larger covariance makes the update speed faster) 0.05
velocity_min_threshold double Speeds smaller than this are not used for updating. 0.1
velocity_diff_threshold double When the velocity data is more than this threshold away from the grid reference speed (center value), the associated data is not used for updating. 0.556
max_steer_threshold double If the steer angle is greater than this value, the associated data is not used for updating. 0.2
max_pitch_threshold double If the pitch angle is greater than this value, the associated data is not used for updating. 0.02
max_jerk_threshold double If the ego jerk calculated from ego acceleration is greater than this value, the associated data is not used for updating. 0.7
pedal_velocity_thresh double If the pedal moving speed is greater than this value, the associated data is not used for updating. 0.15
pedal_diff_threshold double If the current pedal value is more then this threshold away from the previous value, the associated data is not used for updating. 0.03
max_accel double Maximum value of acceleration calculated from velocity source. 5.0
min_accel double Minimum value of acceleration calculated from velocity source. -5.0
pedal_to_accel_delay double The delay time between actuation_cmd to acceleration, considered in the update logic. 0.3
update_suggest_thresh double threshold of RMSE ratio that update suggest flag becomes true. ( RMSE ratio: [RMSE of new map] / [RMSE of original map] ) 0.7
max_data_count int For visualization. When the data num of each grid gets this value, the grid color gets red. 100
accel_brake_value_source string Whether to use actuation_status or actuation_command as accel/brake sources. value status

Test utility scripts

Constant accel/brake command test

These scripts are useful to test for accel brake map calibration. These generate an ActuationCmd with a constant accel/brake value given interactively by a user through CLI.

  • accel_tester.py
  • brake_tester.py
  • actuation_cmd_publisher.py

The accel/brake_tester.py receives a target accel/brake command from CLI. It sends a target value to actuation_cmd_publisher.py which generates the ActuationCmd. You can run these scripts by the following commands in the different terminals, and it will be as in the screenshot below.

ros2 run autoware_accel_brake_map_calibrator accel_tester.py
ros2 run autoware_accel_brake_map_calibrator brake_tester.py
ros2 run autoware_accel_brake_map_calibrator actuation_cmd_publisher.py

actuation_cmd_publisher_util

Calibration Method

Two algorithms are selectable for the acceleration map update, update_offset_four_cell_around and update_offset_each_cell. Please see the link for details.

Data Preprocessing

Before calibration, missing or unusable data (e.g., too large handle angles) must first be eliminated. The following parameters are used to determine which data to remove.

Parameters

Name Description Default Value
velocity_min_threshold Exclude minimal velocity 0.1
max_steer_threshold Exclude large steering angle 0.2
max_pitch_threshold Exclude large pitch angle 0.02
max_jerk_threshold Exclude large jerk 0.7
pedal_velocity_thresh Exclude large pedaling speed 0.15

update_offset_each_cell

Update by Recursive Least Squares(RLS) method using data close enough to each grid.

Advantage : Only data close enough to each grid is used for calibration, allowing accurate updates at each point.

Disadvantage : Calibration is time-consuming due to a large amount of data to be excluded.

Parameters

Data selection is determined by the following thresholds.

Name Default Value
velocity_diff_threshold 0.556
pedal_diff_threshold 0.03

Update formula

\[\begin{align} \theta[n]=& \theta[n-1]+\frac{p[n-1]x^{(n)}}{\lambda+p[n-1]{(x^{(n)})}^2}(y^{(n)}-\theta[n-1]x^{(n)})\\ p[n]=&\frac{p[n-1]}{\lambda+p[n-1]{(x^{(n)})}^2} \end{align}\]

Variables

Variable name Symbol
covariance $p[n-1]$
map_offset $\theta[n]$
forgettingfactor $\lambda$
phi $x(=1)$
measured_acc $y$

update_offset_four_cell_around [1]

Update the offsets by RLS in four grids around newly obtained data. By considering linear interpolation, the update takes into account appropriate weights. Therefore, there is no need to remove data by thresholding.

Advantage : No data is wasted because updates are performed on the 4 grids around the data with appropriate weighting. Disadvantage : Accuracy may be degraded due to extreme bias of the data. For example, if data $z(k)$ is biased near $Z_{RR}$ in Fig. 2, updating is performed at the four surrounding points ( $Z_{RR}$, $Z_{RL}$, $Z_{LR}$, and $Z_{LL}$), but accuracy at $Z_{LL}$ is not expected.

Implementation

See eq.(7)-(10) in [1] for the updated formula. In addition, eq.(17),(18) from [1] are used for Anti-Windup.

References

[1] Gabrielle Lochrie, Michael Doljevic, Mario Nona, Yongsoon Yoon, Anti-Windup Recursive Least Squares Method for Adaptive Lookup Tables with Application to Automotive Powertrain Control Systems, IFAC-PapersOnLine, Volume 54, Issue 20, 2021, Pages 840-845

CHANGELOG

Changelog for package autoware_accel_brake_map_calibrator

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_accel_brake_map_calibrator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_accel_brake_map_calibrator (#9923) Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
  • Contributors: Fumiya Watanabe, Vishal Chauhan

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(cpplint): include what you use - vehicle (#9575)
  • ci(pre-commit): autoupdate (#8949) Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>>
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot]

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (#8593)
    • fix: Conditional Actuation Data Processing Based on Source
    • style(pre-commit): autofix
    • delete extra comentout, indent
    • add take validation

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (#8529)
  • fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (#8230)
  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (#7429)
    • fix : repush to solve conflict
    • style(pre-commit): autofix

    * delete duplicated int cast ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • refactor(accel_brake_map_calibrator)!: add autoware_ prefix (#7351) * add prefix to the codes change dir name update update
    • delete debug
    • fix format
    • fix format
    • restore

    * poi

  • Contributors: Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, eiki

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/accel_brake_map_calibrator.launch.xml
      • accel_brake_map_calib_param [default: $(find-pkg-share autoware_accel_brake_map_calibrator)/config/accel_brake_map_calibrator.param.yaml]
      • csv_default_map_dir [default: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/]
      • csv_calibrated_map_dir [default: $(find-pkg-share autoware_accel_brake_map_calibrator)/config/]
      • logger_level [default: info]
      • rviz [default: true]
      • pedal_accel_graph_output [default: true]
      • progress_file_output [default: false]
      • use_sim_time [default: false]
      • calibration_method [default: each_cell]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_accel_brake_map_calibrator at Robotics Stack Exchange

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