feat(pid_longitudinal_controller): improve delay and slope compensation

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

Author: brkay54

control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp

@@ -28,6 +28,7 @@
 
 #include <cmath>
 #include <limits>
+#include <utility>
 
 namespace autoware::motion::control::pid_longitudinal_controller
 {
@@ -60,11 +61,11 @@ double getPitchByPose(const Quaternion & quaternion);
  * @brief calculate pitch angle from trajectory on map
  * NOTE: there is currently no z information so this always returns 0.0
  * @param [in] trajectory input trajectory
- * @param [in] closest_idx nearest index to current vehicle position
+ * @param [in] start_idx nearest index to current vehicle position
  * @param [in] wheel_base length of wheel base
  */
 double getPitchByTraj(
-  const Trajectory & trajectory, const size_t closest_idx, const double wheel_base);
+  const Trajectory & trajectory, const size_t start_idx, const double wheel_base);
 
 /**
  * @brief calculate vehicle pose after time delay by moving the vehicle at current velocity and
@@ -88,7 +89,7 @@ Quaternion lerpOrientation(const Quaternion & o_from, const Quaternion & o_to, c
  * @param [in] point Interpolated point is nearest to this point.
  */
 template <class T>
-TrajectoryPoint lerpTrajectoryPoint(
+std::pair<TrajectoryPoint, size_t> lerpTrajectoryPoint(
   const T & points, const Pose & pose, const double max_dist, const double max_yaw)
 {
   TrajectoryPoint interpolated_point;
@@ -107,6 +108,8 @@ TrajectoryPoint lerpTrajectoryPoint(
       points.at(i).pose.position.x, points.at(i + 1).pose.position.x, interpolate_ratio);
     interpolated_point.pose.position.y = interpolation::lerp(
       points.at(i).pose.position.y, points.at(i + 1).pose.position.y, interpolate_ratio);
+    interpolated_point.pose.position.z = interpolation::lerp(
+      points.at(i).pose.position.z, points.at(i + 1).pose.position.z, interpolate_ratio);
     interpolated_point.pose.orientation = lerpOrientation(
       points.at(i).pose.orientation, points.at(i + 1).pose.orientation, interpolate_ratio);
     interpolated_point.longitudinal_velocity_mps = interpolation::lerp(
@@ -120,7 +123,7 @@ TrajectoryPoint lerpTrajectoryPoint(
       points.at(i).heading_rate_rps, points.at(i + 1).heading_rate_rps, interpolate_ratio);
   }
 
-  return interpolated_point;
+  return std::make_pair(interpolated_point, seg_idx);
 }
 
 /**
@@ -144,6 +147,17 @@ double applyDiffLimitFilter(
 double applyDiffLimitFilter(
   const double input_val, const double prev_val, const double dt, const double max_val,
   const double min_val);
+
+/**
+ * @brief calculate the projected pose after distance from the current index
+ * @param [in] src_idx current index
+ * @param [in] distance distance to project
+ * @param [in] trajectory reference trajectory
+ */
+geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
+  const size_t src_idx, const double distance,
+  const autoware_auto_planning_msgs::msg::Trajectory & trajectory);
+
 }  // namespace longitudinal_utils
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 

control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp

@@ -66,13 +66,25 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
     double vel{0.0};
     double acc{0.0};
   };
-
+  struct StateAfterDelay
+  {
+    StateAfterDelay(const double velocity, const double acceleration, const double distance)
+    : vel(velocity), acc(acceleration), running_distance(distance)
+    {
+    }
+    double vel{0.0};
+    double acc{0.0};
+    double running_distance{0.0};
+  };
   enum class Shift { Forward = 0, Reverse };
 
   struct ControlData
   {
     bool is_far_from_trajectory{false};
+    autoware_auto_planning_msgs::msg::Trajectory interpolated_traj{};
     size_t nearest_idx{0};  // nearest_idx = 0 when nearest_idx is not found with findNearestIdx
+    size_t target_idx{0};
+    StateAfterDelay state_after_delay{0.0, 0.0, 0.0};
     Motion current_motion{};
     Shift shift{Shift::Forward};  // shift is used only to calculate the sign of pitch compensation
     double stop_dist{0.0};  // signed distance that is positive when car is before the stopline
@@ -184,7 +196,9 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
   double m_min_jerk;
 
   // slope compensation
-  bool m_use_traj_for_pitch;
+  enum class SlopeSource { RAW_PITCH = 0, TRAJECTORY_PITCH, TRAJECTORY_ADAPTIVE };
+  SlopeSource m_slope_source{SlopeSource::RAW_PITCH};
+  double m_adaptive_trajectory_velocity_th;
   std::shared_ptr<LowpassFilter1d> m_lpf_pitch{nullptr};
   double m_max_pitch_rad;
   double m_min_pitch_rad;
@@ -276,11 +290,9 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
 
   /**
    * @brief calculate control command based on the current control state
-   * @param [in] current_pose current ego pose
    * @param [in] control_data control data
    */
-  Motion calcCtrlCmd(
-    const geometry_msgs::msg::Pose & current_pose, const ControlData & control_data);
+  Motion calcCtrlCmd(const ControlData & control_data);
 
   /**
    * @brief publish control command
@@ -309,9 +321,9 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
 
   /**
    * @brief calculate direction (forward or backward) that vehicle moves
-   * @param [in] nearest_idx nearest index on trajectory to vehicle
+   * @param [in] control_data data for control calculation
    */
-  enum Shift getCurrentShift(const size_t nearest_idx) const;
+  enum Shift getCurrentShift(const ControlData & control_data) const;
 
   /**
    * @brief filter acceleration command with limitation of acceleration and jerk, and slope
@@ -341,16 +353,16 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
    * @param [in] motion delay compensated target motion
    */
   Motion keepBrakeBeforeStop(
-    const autoware_auto_planning_msgs::msg::Trajectory & traj, const Motion & target_motion,
-    const size_t nearest_idx) const;
+    const ControlData & control_data, const Motion & target_motion, const size_t nearest_idx) const;
 
   /**
    * @brief interpolate trajectory point that is nearest to vehicle
    * @param [in] traj reference trajectory
    * @param [in] point vehicle position
    * @param [in] nearest_idx index of the trajectory point nearest to the vehicle position
    */
-  autoware_auto_planning_msgs::msg::TrajectoryPoint calcInterpolatedTargetValue(
+  std::pair<autoware_auto_planning_msgs::msg::TrajectoryPoint, size_t>
+  calcInterpolatedTrajPointAndSegment(
     const autoware_auto_planning_msgs::msg::Trajectory & traj,
     const geometry_msgs::msg::Pose & pose) const;
 
@@ -359,18 +371,14 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
    * @param [in] current_motion current velocity and acceleration of the vehicle
    * @param [in] delay_compensation_time predicted time delay
    */
-  double predictedVelocityInTargetPoint(
+  StateAfterDelay predictedStateAfterDelay(
     const Motion current_motion, const double delay_compensation_time) const;
 
   /**
    * @brief calculate velocity feedback with feed forward and pid controller
-   * @param [in] target_motion reference velocity and acceleration. This acceleration will be used
-   * as feed forward.
-   * @param [in] dt time step to use
-   * @param [in] current_vel current velocity of the vehicle
+   * @param [in] control_data data for control calculation
    */
-  double applyVelocityFeedback(
-    const Motion target_motion, const double dt, const double current_vel, const Shift & shift);
+  double applyVelocityFeedback(const ControlData & control_data);
 
   /**
    * @brief update variables for debugging about pitch
@@ -383,12 +391,9 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
   /**
    * @brief update variables for velocity and acceleration
    * @param [in] ctrl_cmd latest calculated control command
-   * @param [in] current_pose current pose of the vehicle
    * @param [in] control_data data for control calculation
    */
-  void updateDebugVelAcc(
-    const Motion & ctrl_cmd, const geometry_msgs::msg::Pose & current_pose,
-    const ControlData & control_data);
+  void updateDebugVelAcc(const ControlData & control_data);
 
   double getTimeUnderControl();
 };

control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml

@@ -5,19 +5,19 @@
     enable_smooth_stop: true
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
-    enable_slope_compensation: false
+    enable_slope_compensation: true
     enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.49
+    stopping_state_stop_dist: 0.5
     stopped_state_entry_duration_time: 0.1
-    stopped_state_entry_vel: 0.1
+    stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
     emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7
+    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0
@@ -40,7 +40,7 @@
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -1.0
+    smooth_stop_min_strong_acc: -0.8
     smooth_stop_weak_acc: -0.3
     smooth_stop_weak_stop_acc: -0.8
     smooth_stop_strong_stop_acc: -3.4
@@ -69,8 +69,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1

control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp

@@ -84,25 +84,25 @@ double getPitchByPose(const Quaternion & quaternion_msg)
 }
 
 double getPitchByTraj(
-  const Trajectory & trajectory, const size_t nearest_idx, const double wheel_base)
+  const Trajectory & trajectory, const size_t start_idx, const double wheel_base)
 {
   // cannot calculate pitch
   if (trajectory.points.size() <= 1) {
     return 0.0;
   }
 
   const auto [prev_idx, next_idx] = [&]() {
-    for (size_t i = nearest_idx + 1; i < trajectory.points.size(); ++i) {
+    for (size_t i = start_idx + 1; i < trajectory.points.size(); ++i) {
       const double dist = tier4_autoware_utils::calcDistance2d(
-        trajectory.points.at(nearest_idx), trajectory.points.at(i));
+        trajectory.points.at(start_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);
+        return std::make_pair(start_idx, i);
       }
     }
     // 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);
+      std::min(start_idx, trajectory.points.size() - 2), trajectory.points.size() - 1);
   }();
 
   return tier4_autoware_utils::calcElevationAngle(
@@ -168,5 +168,33 @@ double applyDiffLimitFilter(
   const double min_val = -max_val;
   return applyDiffLimitFilter(input_val, prev_val, dt, max_val, min_val);
 }
+
+geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
+  const size_t src_idx, const double distance,
+  const autoware_auto_planning_msgs::msg::Trajectory & trajectory)
+{
+  double remain_dist = distance;
+  geometry_msgs::msg::Pose p = trajectory.points.back().pose;
+  for (size_t i = src_idx; i < trajectory.points.size() - 1; ++i) {
+    const double dist = tier4_autoware_utils::calcDistance3d(
+      trajectory.points.at(i).pose, trajectory.points.at(i + 1).pose);
+    if (remain_dist < dist) {
+      if (remain_dist <= 0.0) {
+        return trajectory.points.at(i).pose;
+      }
+      double ratio = remain_dist / dist;
+      const auto p0 = trajectory.points.at(i).pose;
+      const auto p1 = trajectory.points.at(i + 1).pose;
+      p = trajectory.points.at(i).pose;
+      p.position.x = interpolation::lerp(p0.position.x, p1.position.x, ratio);
+      p.position.y = interpolation::lerp(p0.position.y, p1.position.y, ratio);
+      p.position.z = interpolation::lerp(p0.position.z, p1.position.z, ratio);
+      p.orientation = lerpOrientation(p0.orientation, p1.orientation, ratio);
+      break;
+    }
+    remain_dist -= dist;
+  }
+  return p;
+}
 }  // namespace longitudinal_utils
 }  // namespace autoware::motion::control::pid_longitudinal_controller