autoware_radar_crossing_objects_noise_filter

This package contains a radar noise filter module for autoware_perception_msgs/msg/DetectedObject. This package can filter the noise objects which cross to the ego vehicle.

Design

Background

This package aim to filter the noise objects which cross from the ego vehicle. The reason why these objects are noise is as below.

1. The objects with doppler velocity can be trusted more than those with vertical velocity to it

Radars can get velocity information of objects as doppler velocity, but cannot get vertical velocity to doppler velocity directory. Some radars can output the objects with not only doppler velocity but also vertical velocity by estimation. If the vertical velocity estimation is poor, it leads to output noise objects. In other words, the above situation is that the objects which has vertical twist viewed from ego vehicle can tend to be noise objects.

The example is below figure. Velocity estimation fails on static objects, resulting in ghost objects crossing in front of ego vehicles.

2. Turning around by ego vehicle affect the output from radar

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 compensates by the ego vehicle twist. 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.

The example is below figure. When the ego vehicle turn right, the surrounding objects have left circular motion.

Algorithm

To filter the objects crossing to ego vehicle, this package filter the objects as below algorithm.

  // If velocity of an object is rather than the velocity_threshold,
  // and crossing_yaw is near to vertical
  // angle_threshold < crossing_yaw < pi - angle_threshold
  if (
    velocity > node_param_.velocity_threshold &&
    abs(std::cos(crossing_yaw)) < abs(std::cos(node_param_.angle_threshold))) {
    // Object is noise object;
  } else {
    // Object is not noise object;
  }

Interface

Input

• ~/input/objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Input radar objects

Output

• ~/output/noise_objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Noise objects
• ~/output/filtered_objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Filtered objects

Parameters

{{ json_to_markdown(“perception/autoware_radar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json”) }}

Changelog for package autoware_radar_crossing_objects_noise_filter

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)
• chore: refine maintainer list (#10110)
  • chore: remove Miura from maintainer

  * chore: add Taekjin-san to perception_utils package maintainer ---------

• feat(autoware_radar_crossing_objects_noise_filter): created schema file and updated readme file for parameters setting (#10001)
  • feat(autoware_radar_crossing_objects_noise_filter): Created Schema file and updated ReadME file for parameters setting
  • style(pre-commit): autofix

  * Update README.md update readme file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Shunsuke Miura, Vishal Chauhan, 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)

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 - perception (#9569)
• docs: update the list styles (#9555)
• 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

0.39.0 (2024-11-25)

• 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, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware_ (#8173)
  • refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter
  • refactor: rename simple_object_merger package to autoware_simple_object_merger

  * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter ---------

• refactor(radar)!: add package name prefix of autoware_ (#7892)
  • refactor: rename radar_object_tracker
  • refactor: rename package from radar_object_tracker to autoware_radar_object_tracker
  • refactor: rename package from radar_object_clustering to autoware_radar_object_clustering
  • refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object
  • refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter
  • refactor: rename object_velocity_splitter to autoware_object_velocity_splitter
  • refactor: rename object_range_splitter to autoware_object_range_splitter

  * refactor: update readme ---------

• Contributors: Taekjin LEE, Yutaka Kondo

0.26.0 (2024-04-03)