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feat(pid_longitudinal_controller): improve FF gain constant calculation #5079

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feat(pid_longitudinal_controller): improve FF gain constant calculation #5079

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6 changes: 5 additions & 1 deletion control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1053,6 +1053,8 @@ PidLongitudinalController::StateAfterDelay PidLongitudinalController::predictedS
double PidLongitudinalController::applyVelocityFeedback(const ControlData & control_data)
{
// NOTE: Acceleration command is always positive even if the ego drives backward.
const double nearest_target_vel =
control_data.interpolated_traj.points.at(control_data.nearest_idx).longitudinal_velocity_mps;
const double vel_sign = (control_data.shift == Shift::Forward)
? 1.0
: (control_data.shift == Shift::Reverse ? -1.0 : 0.0);
Expand Down Expand Up @@ -1087,7 +1089,9 @@ double PidLongitudinalController::applyVelocityFeedback(const ControlData & cont
constexpr double ff_scale_max = 2.0; // for safety
constexpr double ff_scale_min = 0.5; // for safety
const double ff_scale = std::clamp(
std::abs(current_vel) / std::max(std::abs(target_motion.vel), 0.1), ff_scale_min, ff_scale_max);
1.0 + (abs(nearest_target_vel - current_vel) / std::max(abs(current_vel), 0.1)), ff_scale_min,
ff_scale_max);

const double ff_acc =
control_data.interpolated_traj.points.at(control_data.target_idx).acceleration_mps2 * ff_scale;

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