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feat(pid_longitudinal_controller): transit to STOPPED even if the sign of the ego velocity goes opposite #926

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Oct 18, 2023
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feat(pid_longitudinal_controller): transit to STOPPED even if the sign of the ego velocity goes opposite #926

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23 changes: 20 additions & 3 deletions 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 @@ -493,9 +493,26 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
m_enable_keep_stopped_until_steer_convergence && !lateral_sync_data_.is_steer_converged;

const bool stopping_condition = stop_dist < p.stopping_state_stop_dist;
if (
std::fabs(current_vel) > p.stopped_state_entry_vel ||
std::fabs(current_acc) > p.stopped_state_entry_acc) {

const bool is_stopped = std::abs(current_vel) < p.stopped_state_entry_vel &&
std::abs(current_acc) < p.stopped_state_entry_acc;
// Case where the ego slips in the opposite direction of the gear due to e.g. a slope is also
// considered as a stop
const bool is_not_running = [&]() {
if (control_data.shift == Shift::Forward) {
if (is_stopped || current_vel < 0.0) {
// NOTE: Stopped or moving backward
return true;
}
} else {
if (is_stopped || 0.0 < current_vel) {
// NOTE: Stopped or moving forward
return true;
}
}
return false;
}();
if (!is_not_running) {
m_last_running_time = std::make_shared<rclcpp::Time>(node_->now());
}
const bool stopped_condition =
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