fix(mpc_lateral_controller): precise backward driving #6578
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #6578 +/- ##
==========================================
- Coverage 14.78% 14.78% -0.01%
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Files 1917 1917
Lines 132012 132008 -4
Branches 39228 39221 -7
==========================================
- Hits 19523 19519 -4
- Misses 90699 90702 +3
+ Partials 21790 21787 -3
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
kosuke55
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TakaHoribe
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Mar 11, 2024
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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…tion#6578) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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…tion#6578) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
When driving backward, the MPC's precision was not good.
This is because the curvature's sign for the delay compensation was wrong when driving backward. This PR fixed the issue.
In the following videos, see the deviation between the planned trajectory and the white line that is MPC's predicted trajectory.
before
https://github.com/autowarefoundation/autoware.universe/assets/20228327/0d366fcd-ed28-4e81-b754-eb2849854bc3
after
https://github.com/autowarefoundation/autoware.universe/assets/20228327/f2d011a8-507e-4182-b715-c7039b2506c8
Tests performed
psim
Effects on system behavior
more precise tracking control when backward driving
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