Goals

• [x] Fix orientation error when ego vehicle is moving
• [ ] Collision risk for some scenarios

Orientation

When the ego vehicle moves, the orientation becomes erroneous due to the fluctuations in the odom frame, which was utilized for calculating this orientation. The work around this issue was to use the speed vector for the orientation calculation. The speed is accurate since it’s obtained through consecutive relative positions plus the ego’s vehicle speed.

Collision scenarios

• Crossover

  • Atlascar2’s speed: 1m/s; Yellow's car speed: 2 m/s; Time horizon: 3 seconds

    risk_3_1_2.webm

  • Atlascar2’s speed: 2m/s; Yellow's car speed: 2 m/s; Time horizon: 3 seconds

    risk_3_2_2.webm

  • Atlascar2’s speed: 3m/s; Yellow's car speed: 2 m/s; Time horizon: 3 seconds

    risk_3_3_2.webm

  • Case of no collision for ****Atlascar2’s speed: 1m/s; Yellow's car speed: 2 m/s; Time horizon: 3 seconds

    No_collision_3_1_2.webm