pdm_closed_planner trajectory's states have no dynamic information about tuplan_garage HOT 3 CLOSED

@DanielDauner sorry for my late reply, busy times. Anyway, thank you very much for your feedback, very helpful!

from tuplan_garage.

Hi @CristianGariboldi

The LQR controller of nuPlan extracts the target acceleration and steering based on the position values of the trajectory. Thus, the dynamic states of the output trajectory have zero effect, and we left the values blank.

There are multiple options for our planners to retrieve the dynamic states. PDM-Closed calculates the velocity and acceleration in each propagating step of the IDM policy. Another option is to calculate the intended acceleration and velocity from the positions. You may find some functions in pdm_comfort_metrics.py or nuPlan’s state_extractors.py helpful.

We don’t explicitly consider the left and right bounds of the road. However, we use an occupancy map (initialized here) to determine if geometries are inside or outside the drivable area. You can get the boundaries from the nuPlan lane object or lane connector object.

Let me know if you need any further details or clarification.

from tuplan_garage.

I am closing this issue for now. Feel free to re-open if you have further questions!

from tuplan_garage.