Vehicle stopped beyond target point

[xiaoc88]

Hi @evshary
I have encountered a problem, in the automatic driving mode, the vehicle will exceed the set target point every time it stops, how to solve this problem?

[evshary]

Hi @xiaoc88 Sorry for missing your messages. This is a known issue, but we don't have time to look into it yet.

[Stuare8]

@evshary Hello! Thanks for actively maintaining this project.
I also had this problem when the vehicle would still go forward some distance after reaching the target point,I did not find this problem using planning simulation.
autoware_carla_launch branch:main
carla version: 0.9.14
autoware version: 2024.09
I compared the longitudinal speed of /control/command/control_cmd and /vehicle/status/velocity_status in both carla simulation and the planning simulator.
planning simulator:
During acceleration and deceleration, the vehicle's speed closely tracks the control speed.

planning_simulator.mp4

carla simulation:
During acceleration and deceleration, the vehicle speed exhibits a lag relative to the control speed.

carla.mp4

Do you have any suggestions or solutions for this issue?
Thank you so much for your answers.

[evshary]

@Stuare8 Thank you for the clear video. We actually found out what might have caused the issue and are debugging it.