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fix(mpc_lateral_controller): prevent unstable steering command while stopped #1709

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merged 3 commits into from
Dec 20, 2024
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fix(mpc_lateral_controller): prevent unstable steering command while stopped #1709

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cb975c2
modify logic of function isStoppedState
mkquda Dec 19, 2024
a37f673
use a constant distance margin instead of wheelbase length
mkquda Dec 19, 2024
00c5db6
add comment to implementation
mkquda Dec 19, 2024
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39 changes: 24 additions & 15 deletions control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -399,11 +399,18 @@ Lateral MpcLateralController::getInitialControlCommand() const

bool MpcLateralController::isStoppedState() const
{
const double current_vel = m_current_kinematic_state.twist.twist.linear.x;
// If the nearest index is not found, return false
if (m_current_trajectory.points.empty()) {
if (
m_current_trajectory.points.empty() || std::fabs(current_vel) > m_stop_state_entry_ego_speed) {
return false;
}

const auto latest_published_cmd = m_ctrl_cmd_prev; // use prev_cmd as a latest published command
if (m_keep_steer_control_until_converged && !isSteerConverged(latest_published_cmd)) {
return false; // not stopState: keep control
}

// Note: This function used to take into account the distance to the stop line
// for the stop state judgement. However, it has been removed since the steering
// control was turned off when approaching/exceeding the stop line on a curve or
Expand All @@ -412,21 +419,23 @@ 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 double current_vel = m_current_kinematic_state.twist.twist.linear.x;
const double target_vel = m_current_trajectory.points.at(nearest).longitudinal_velocity_mps;

const auto latest_published_cmd = m_ctrl_cmd_prev; // use prev_cmd as a latest published command
if (m_keep_steer_control_until_converged && !isSteerConverged(latest_published_cmd)) {
return false; // not stopState: keep control
}
// It is possible that stop is executed earlier than stop point, and velocity controller
// will not start when the distance from ego to stop point is less than 0.5 meter.
// So we use a distance margin to ensure we can detect stopped state.
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 > distance_margin) break;
}
return min_vel;
});

if (
std::fabs(current_vel) < m_stop_state_entry_ego_speed &&
std::fabs(target_vel) < m_stop_state_entry_target_speed) {
return true;
} else {
return false;
}
return std::fabs(target_vel) < m_stop_state_entry_target_speed;
}

Lateral MpcLateralController::createCtrlCmdMsg(const Lateral & ctrl_cmd)
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