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fix(vehicle_cmd_gate): fix slow start #4323

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merged 2 commits into from
Jul 19, 2023
Merged

fix(vehicle_cmd_gate): fix slow start #4323

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a9a3fee
fix(vehicle_cmd_gate): fix slow start
tkimura4 Jul 18, 2023
0929f74
feat: consider reverse driving
tkimura4 Jul 19, 2023
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2 changes: 2 additions & 0 deletions control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,8 @@ class VehicleCmdFilter
void filterAll(
const double dt, const double current_steer_angle, AckermannControlCommand & input) const;

AckermannControlCommand getPrevCmd() { return prev_cmd_; }

private:
VehicleCmdFilterParam param_;
AckermannControlCommand prev_cmd_;
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17 changes: 15 additions & 2 deletions control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
#include <rclcpp/logging.hpp>
#include <tier4_api_utils/tier4_api_utils.hpp>

#include <algorithm>
#include <chrono>
#include <functional>
#include <memory>
Expand Down Expand Up @@ -504,10 +505,22 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont
filter_on_transition_.filterAll(dt, current_steer_, out);
} else {
// When ego is stopped and the input command is not stopping,
// use the actual vehicle longitudinal state for the filtering
// use the higher of actual vehicle longitudinal state
// and previous longitudinal command for the filtering
// this is to prevent the jerk limits being applied and causing
// a delay when restarting the vehicle.
if (ego_is_stopped && !input_cmd_is_stopping) filter_.setPrevCmd(current_status_cmd);

if (ego_is_stopped && !input_cmd_is_stopping) {
auto prev_cmd = filter_.getPrevCmd();
prev_cmd.longitudinal.acceleration =
std::max(prev_cmd.longitudinal.acceleration, current_status_cmd.longitudinal.acceleration);
// consider reverse driving
prev_cmd.longitudinal.speed =
std::fabs(prev_cmd.longitudinal.speed) > std::fabs(current_status_cmd.longitudinal.speed)
? prev_cmd.longitudinal.speed
: current_status_cmd.longitudinal.speed;
filter_.setPrevCmd(prev_cmd);
}
filter_.filterAll(dt, current_steer_, out);
}

Expand Down