fix(shift_decider): prevent chattering of gear command when target speed is near 0 #4213
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…eed is near 0 Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
shmpwk
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Jul 10, 2023
shmpwk
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Jul 11, 2023
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…eed is near 0 (autowarefoundation#4213) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tkimura4
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…eed is near 0 (autowarefoundation#4213) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Description
If the target speed is around 0.01(
vel_threshold) when Autoware engages, gear command may chatter on DRIVE and PARKING ( =current_gear_ptr_->report).Such gear command chattering can adversely affect hardware, so this PR prevents chattering by sending the same gear command as last time when the target speed is low.
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Tests performed
no tests
Notes for reviewers
none
Interface changes
none
Effects on system behavior
This PR prevents chattering of gear command.
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