Autoware continuously accelerates not considering a friction.

[Kim-mins]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware with Carla, and I found a situation that the ego vehicle continuously accelerates not considering a friction.
Here's the video and log file for the situation: [rviz] [frontview] [launch.log]

At the frontview video, the ego vehicle passes a blue box that indicates the low-friction area, and after exiting the blue box, the speed of the ego vehicle goes up to 44km/h(the speed limit is 30km/h) instantly and slows down. (the collision with the pedestrian is related to the issue #6709)

So I also tested the normal scenario(with no low-friction area and no pedestrian) and I could observe that the overall acceleration value is very similar, but it seems that it starts to be different when the vehicle is on the low-friction area. Here's the graph on change of acceleration value during the driving(x: # of published message(fps=20), y: acceleration value):

Around the 300th message, I could check that the acceleration value increases for some periods, and it decreases steeply after increasing.
It seems the ego vehicle is driving on the low-friction area at the 300th message, and the acceleration value seems a bit high, compared to the normal scenario.

Expected behavior

I expected the ego vehicle to drive as usual, even when the vehicle is on the low-friction area.

Actual behavior

But the vehicle misbehaves after passing the low-friction area.

Steps to reproduce

Here's a ros2bag file to reproduce: [ros2bag]

Versions

• Autoware: 20240115, prebuilt docker
• Carla: 0.9.13
• OS (host): Ubuntu 20.04
• OS (docker): Ubuntu 22.04

Possible causes

No response

Additional context

No response

[maxime-clem]

Low friction is very challenging because of the slip it introduces. In such a case, the brake and steer command does not behave as expected and control becomes very poor.
It is a very difficult problem that is not currently handled by Autoware.
If we knew some areas had low friction, then we would need to use specific controllers (https://www.mdpi.com/2075-1702/11/3/403).

[maxime-clem]

Low-friction is out of the current scope of Autoware so this issue will probably not be addressed before a while.

[meliketanrikulu]

Hello @maxime-clem If this issue is wont-fix. Can we close this issue or is there any other suggestion

[maxime-clem]

@meliketanrikulu do you think it is okay to leave it open ? The issue is not resolved and may be addressed in the future so I prefer if we can leave it open.
We can also decide to close it and reopen it if we start working on it. I don't think we have decided on how to handle the "won't fix" issues.

[meliketanrikulu]

do you think it is okay to leave it open ? The issue is not resolved and may be addressed in the future so I prefer if we can leave it open.
We can also decide to close it and reopen it if we start working on it. I don't think we have decided on how to handle the "won't fix" issues.

@maxime-clem Maybe we can open as feature request section in the discussions (https://github.com/orgs/autowarefoundation/discussions/categories/feature-requests) and we can close wont-fix issues. It may be useful to talk about this topic at Software WG.