use a constant distance margin instead of wheelbase length

Signed-off-by: mohammad alqudah <[email protected]>

control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp

@@ -522,8 +522,6 @@ class MPC
    * @param clock The shared pointer to the RCLCPP clock.
    */
   inline void setClock(rclcpp::Clock::SharedPtr clock) { m_clock = clock; }
-
-  inline double get_wheelbase_length() { return m_vehicle_model_ptr->getWheelbase(); }
 };  // class MPC
 }  // namespace autoware::motion::control::mpc_lateral_controller
 

control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp

@@ -419,15 +419,15 @@ bool MpcLateralController::isStoppedState() const
     m_current_trajectory.points, m_current_kinematic_state.pose.pose, m_ego_nearest_dist_threshold,
     m_ego_nearest_yaw_threshold);
 
-  const auto wheelbase_length = m_mpc->get_wheelbase_length();
+  static constexpr double distance_margin = 1.0;
   const double target_vel = std::invoke([&]() -> double {
     auto min_vel = m_current_trajectory.points.at(nearest).longitudinal_velocity_mps;
     auto covered_distance = 0.0;
     for (auto i = nearest + 1; i < m_current_trajectory.points.size(); ++i) {
       min_vel = std::min(min_vel, m_current_trajectory.points.at(i).longitudinal_velocity_mps);
       covered_distance += autoware::universe_utils::calcDistance2d(
         m_current_trajectory.points.at(i - 1).pose, m_current_trajectory.points.at(i).pose);
-      if (covered_distance > wheelbase_length) break;
+      if (covered_distance > distance_margin) break;
     }
     return min_vel;
   });