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fix(mpc_lateral_controller): precise backward driving #6578

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Mar 11, 2024
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fix(mpc_lateral_controller): precise backward driving #6578

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6 changes: 5 additions & 1 deletion control/mpc_lateral_controller/src/mpc.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2018-2021 The Autoware Foundation

Check notice on line 1 in control/mpc_lateral_controller/src/mpc.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.79 to 4.84, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -355,12 +355,15 @@
MatrixXd Wd(DIM_X, 1);
MatrixXd Cd(DIM_Y, DIM_X);

const double sign_vx = m_is_forward_shift ? 1 : -1;

MatrixXd x_curr = x0_orig;
double mpc_curr_time = start_time;
for (size_t i = 0; i < m_input_buffer.size(); ++i) {
double k, v = 0.0;
try {
k = interpolation::lerp(traj.relative_time, traj.k, mpc_curr_time);
// NOTE: When driving backward, the curvature's sign should be reversed.
k = interpolation::lerp(traj.relative_time, traj.k, mpc_curr_time) * sign_vx;
v = interpolation::lerp(traj.relative_time, traj.vx, mpc_curr_time);
} catch (const std::exception & e) {
RCLCPP_ERROR(m_logger, "mpc resample failed at delay compensation, stop mpc: %s", e.what());
Expand Down Expand Up @@ -446,6 +449,7 @@
const double ref_vx = reference_trajectory.vx.at(i);
const double ref_vx_squared = ref_vx * ref_vx;

// NOTE: When driving backward, the curvature's sign should be reversed.
const double ref_k = reference_trajectory.k.at(i) * sign_vx;
const double ref_smooth_k = reference_trajectory.smooth_k.at(i) * sign_vx;

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