Merge pull request #868 from tier4/feat/pid-control-improvement

feat(pid_longitudinal_controller): several bug fix

control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp

@@ -66,11 +66,6 @@ double getPitchByPose(const Quaternion & quaternion);
 double getPitchByTraj(
   const Trajectory & trajectory, const size_t closest_idx, const double wheel_base);
 
-/**
- * @brief calculate elevation angle
- */
-double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint & p_to);
-
 /**
  * @brief calculate vehicle pose after time delay by moving the vehicle at current velocity and
  * acceleration for delayed time

control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp

@@ -362,7 +362,7 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
    * @param [in] current_vel current velocity of the vehicle
    */
   double applyVelocityFeedback(
-    const Motion target_motion, const double dt, const double current_vel);
+    const Motion target_motion, const double dt, const double current_vel, const Shift & shift);
 
   /**
    * @brief update variables for debugging about pitch

control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp

@@ -91,41 +91,22 @@ double getPitchByTraj(
     return 0.0;
   }
 
-  for (size_t i = nearest_idx + 1; i < trajectory.points.size(); ++i) {
-    const double dist = tier4_autoware_utils::calcDistance2d(
-      trajectory.points.at(nearest_idx), trajectory.points.at(i));
-    if (dist > wheel_base) {
-      // calculate pitch from trajectory between rear wheel (nearest) and front center (i)
-      return calcElevationAngle(trajectory.points.at(nearest_idx), trajectory.points.at(i));
+  const auto [prev_idx, next_idx] = [&]() {
+    for (size_t i = nearest_idx + 1; i < trajectory.points.size(); ++i) {
+      const double dist = tier4_autoware_utils::calcDistance2d(
+        trajectory.points.at(nearest_idx), trajectory.points.at(i));
+      if (dist > wheel_base) {
+        // calculate pitch from trajectory between rear wheel (nearest) and front center (i)
+        return std::make_pair(nearest_idx, i);
+      }
     }
-  }
-
-  // close to goal
-  for (size_t i = trajectory.points.size() - 1; i > 0; --i) {
-    const double dist =
-      tier4_autoware_utils::calcDistance2d(trajectory.points.back(), trajectory.points.at(i));
-
-    if (dist > wheel_base) {
-      // calculate pitch from trajectory
-      // between wheelbase behind the end of trajectory (i) and the end of trajectory (back)
-      return calcElevationAngle(trajectory.points.at(i), trajectory.points.back());
-    }
-  }
+    // NOTE: The ego pose is close to the goal.
+    return std::make_pair(
+      std::min(nearest_idx, trajectory.points.size() - 2), trajectory.points.size() - 1);
+  }();
 
-  // calculate pitch from trajectory between the beginning and end of trajectory
-  return calcElevationAngle(trajectory.points.at(0), trajectory.points.back());
-}
-
-double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint & p_to)
-{
-  const double dx = p_from.pose.position.x - p_to.pose.position.x;
-  const double dy = p_from.pose.position.y - p_to.pose.position.y;
-  const double dz = p_from.pose.position.z - p_to.pose.position.z;
-
-  const double dxy = std::max(std::hypot(dx, dy), std::numeric_limits<double>::epsilon());
-  const double pitch = std::atan2(dz, dxy);
-
-  return pitch;
+  return tier4_autoware_utils::calcElevationAngle(
+    trajectory.points.at(prev_idx).pose.position, trajectory.points.at(next_idx).pose.position);
 }
 
 Pose calcPoseAfterTimeDelay(

control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -526,10 +526,8 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
     RCLCPP_INFO_SKIPFIRST_THROTTLE(node_->get_logger(), *node_->get_clock(), 5000, "%s", s);
   };
 
-  // if current operation mode is not autonomous mode, then change state to stopped
-  if (m_current_operation_mode.mode != OperationModeState::AUTONOMOUS) {
-    return changeState(ControlState::STOPPED);
-  }
+  const bool is_under_control = m_current_operation_mode.is_autoware_control_enabled &&
+                                m_current_operation_mode.mode == OperationModeState::AUTONOMOUS;
 
   // transit state
   // in DRIVE state
@@ -538,6 +536,12 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
       return changeState(ControlState::EMERGENCY);
     }
 
+    if (!is_under_control && stopped_condition && keep_stopped_condition) {
+      // NOTE: When the ego is stopped on manual driving, since the driving state may transit to
+      //       autonomous, keep_stopped_condition should be checked.
+      return changeState(ControlState::STOPPED);
+    }
+
     if (m_enable_smooth_stop) {
       if (stopping_condition) {
         // predictions after input time delay
@@ -604,8 +608,14 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
 
   // in EMERGENCY state
   if (m_control_state == ControlState::EMERGENCY) {
-    if (stopped_condition && !emergency_condition) {
-      return changeState(ControlState::STOPPED);
+    if (!emergency_condition) {
+      if (stopped_condition) {
+        return changeState(ControlState::STOPPED);
+      }
+      if (!is_under_control) {
+        // NOTE: On manual driving, no need stopping to exit the emergency.
+        return changeState(ControlState::DRIVE);
+      }
     }
     return;
   }
@@ -639,7 +649,8 @@ PidLongitudinalController::Motion PidLongitudinalController::calcCtrlCmd(
     m_debug_values.setValues(DebugValues::TYPE::PREDICTED_VEL, pred_vel_in_target);
 
     raw_ctrl_cmd.vel = target_motion.vel;
-    raw_ctrl_cmd.acc = applyVelocityFeedback(target_motion, control_data.dt, pred_vel_in_target);
+    raw_ctrl_cmd.acc =
+      applyVelocityFeedback(target_motion, control_data.dt, pred_vel_in_target, control_data.shift);
     RCLCPP_DEBUG(
       node_->get_logger(),
       "[feedback control]  vel: %3.3f, acc: %3.3f, dt: %3.3f, v_curr: %3.3f, v_ref: %3.3f "
@@ -813,7 +824,7 @@ double PidLongitudinalController::applySlopeCompensation(
   const double pitch_limited = std::min(std::max(pitch, m_min_pitch_rad), m_max_pitch_rad);
 
   // Acceleration command is always positive independent of direction (= shift) when car is running
-  double sign = (shift == Shift::Forward) ? -1 : (shift == Shift::Reverse ? 1 : 0);
+  double sign = (shift == Shift::Forward) ? 1.0 : (shift == Shift::Reverse ? -1.0 : 0);
   double compensated_acc = input_acc + sign * 9.81 * std::sin(pitch_limited);
   return compensated_acc;
 }
@@ -915,14 +926,16 @@ double PidLongitudinalController::predictedVelocityInTargetPoint(
 }
 
 double PidLongitudinalController::applyVelocityFeedback(
-  const Motion target_motion, const double dt, const double current_vel)
+  const Motion target_motion, const double dt, const double current_vel, const Shift & shift)
 {
-  const double current_vel_abs = std::fabs(current_vel);
-  const double target_vel_abs = std::fabs(target_motion.vel);
-  const bool is_under_control = m_current_operation_mode.mode == OperationModeState::AUTONOMOUS;
+  // NOTE: Acceleration command is always positive even if the ego drives backward.
+  const double vel_sign = (shift == Shift::Forward) ? 1.0 : (shift == Shift::Reverse ? -1.0 : 0.0);
+  const double diff_vel = (target_motion.vel - current_vel) * vel_sign;
+  const bool is_under_control = m_current_operation_mode.is_autoware_control_enabled &&
+                                m_current_operation_mode.mode == OperationModeState::AUTONOMOUS;
   const bool enable_integration =
-    (current_vel_abs > m_current_vel_threshold_pid_integrate) && is_under_control;
-  const double error_vel_filtered = m_lpf_vel_error->filter(target_vel_abs - current_vel_abs);
+    (std::abs(current_vel) > m_current_vel_threshold_pid_integrate) && is_under_control;
+  const double error_vel_filtered = m_lpf_vel_error->filter(diff_vel);
 
   std::vector<double> pid_contributions(3);
   const double pid_acc =
@@ -935,8 +948,8 @@ double PidLongitudinalController::applyVelocityFeedback(
   // deviation will be bigger.
   constexpr double ff_scale_max = 2.0;  // for safety
   constexpr double ff_scale_min = 0.5;  // for safety
-  const double ff_scale =
-    std::clamp(current_vel_abs / std::max(target_vel_abs, 0.1), ff_scale_min, ff_scale_max);
+  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);
   const double ff_acc = target_motion.acc * ff_scale;
 
   const double feedback_acc = ff_acc + pid_acc;

control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp

@@ -158,33 +158,6 @@ TEST(TestLongitudinalControllerUtils, getPitchByTraj)
     std::atan2(0.5, 1));
 }
 
-TEST(TestLongitudinalControllerUtils, calcElevationAngle)
-{
-  using autoware_auto_planning_msgs::msg::TrajectoryPoint;
-  TrajectoryPoint p_from;
-  p_from.pose.position.x = 0.0;
-  p_from.pose.position.y = 0.0;
-  TrajectoryPoint p_to;
-  p_to.pose.position.x = 1.0;
-  p_to.pose.position.y = 0.0;
-  EXPECT_DOUBLE_EQ(longitudinal_utils::calcElevationAngle(p_from, p_to), 0.0);
-  p_to.pose.position.x = 1.0;
-  p_to.pose.position.z = 1.0;
-  EXPECT_DOUBLE_EQ(longitudinal_utils::calcElevationAngle(p_from, p_to), -M_PI_4);
-  p_to.pose.position.x = -1.0;
-  p_to.pose.position.z = 1.0;
-  EXPECT_DOUBLE_EQ(longitudinal_utils::calcElevationAngle(p_from, p_to), -M_PI_4);
-  p_to.pose.position.x = 0.0;
-  p_to.pose.position.z = 1.0;
-  EXPECT_DOUBLE_EQ(longitudinal_utils::calcElevationAngle(p_from, p_to), -M_PI_2);
-  p_to.pose.position.x = 1.0;
-  p_to.pose.position.z = -1.0;
-  EXPECT_DOUBLE_EQ(longitudinal_utils::calcElevationAngle(p_from, p_to), M_PI_4);
-  p_to.pose.position.x = -1.0;
-  p_to.pose.position.z = -1.0;
-  EXPECT_DOUBLE_EQ(longitudinal_utils::calcElevationAngle(p_from, p_to), M_PI_4);
-}
-
 TEST(TestLongitudinalControllerUtils, calcPoseAfterTimeDelay)
 {
   using geometry_msgs::msg::Pose;