fix(autoware_mpc_lateral_controller): delete the zero speed constraint #7673
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Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
takayuki5168
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Jun 25, 2024
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #7673 +/- ##
===========================================
+ Coverage 14.84% 18.93% +4.08%
===========================================
Files 1999 149 -1850
Lines 139163 13452 -125711
Branches 43716 2220 -41496
===========================================
- Hits 20661 2547 -18114
+ Misses 95731 10551 -85180
+ Partials 22771 354 -22417
☔ View full report in Codecov by Sentry. |
simon-eisenmann-driveblocks
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Jun 26, 2024
autowarefoundation#7673) * delete steer rate limit when vel = 0 Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary variable Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
mitukou1109
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Jul 2, 2024
autowarefoundation#7673) * delete steer rate limit when vel = 0 Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary variable Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
takayuki5168
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Jul 8, 2024
…onstraint (autowarefoundation#7673)" This reverts commit 69258bd.
takayuki5168
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Jul 9, 2024
…onstraint (autowarefoundation#7673)" This reverts commit 69258bd.
takayuki5168
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Jul 10, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
takayuki5168
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Jul 10, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
takayuki5168
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Jul 10, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
shmpwk
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Jul 10, 2024
…1404) * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
shmpwk
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Jul 10, 2024
…1405) * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
palas21
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Jul 12, 2024
autowarefoundation#7673) * delete steer rate limit when vel = 0 Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary variable Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Signed-off-by: palas21 <palas21@itu.edu.tr>
tby-udel
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Jul 14, 2024
autowarefoundation#7673) * delete steer rate limit when vel = 0 Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary variable Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
KhalilSelyan
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Jul 22, 2024
#7673) * delete steer rate limit when vel = 0 Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary variable Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Ariiees
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Jul 22, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
Delete the steer rate constraint at zero speed.
Note that the steer rate limit will be consequently determined by the velocity-based and curvature-based limits.
Further modifications might be necessary for these two limits.
Tests performed
https://evaluation.tier4.jp/evaluation/reports/50dbfc26-ee89-5da5-89f8-76f7215d2ec8?project_id=prd_jt
after deleting the unrelevant variables:
https://evaluation.tier4.jp/evaluation/reports/ac287872-a0a1-5223-a9f9-8b8dbea19c52?project_id=prd_jt
Effects on system behavior
Not applicable.
Interface changes
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