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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

control/autoware_mpc_lateral_controller/src/mpc.cpp

@@ -765,7 +765,7 @@ VectorXd MPC::calcSteerRateLimitOnTrajectory(
     return reference.back();
   };
 
-  // when the vehicle is stopped, no steering rate limit.
+  // When the vehicle is stopped, a large steer rate limit is used for the dry steering.
   constexpr double steer_rate_lim = 100.0;
   const bool is_vehicle_stopped = std::fabs(current_velocity) < 0.01;
   if (is_vehicle_stopped) {

control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -721,6 +721,9 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
       const bool current_keep_stopped_condition = std::fabs(current_vel) < vel_epsilon &&
                                                   m_enable_keep_stopped_until_steer_convergence &&
                                                   !lateral_sync_data_.is_steer_converged;
+      // NOTE: Dry steering is considered unnecessary when the steering is converged twice in a
+      //       row. This is because lateral_sync_data_.is_steer_converged is not the current but
+      //       the previous value due to the order controllers' run and sync functions.
       const bool keep_stopped_condition =
         !m_prev_keep_stopped_condition ||
         (current_keep_stopped_condition || *m_prev_keep_stopped_condition);