fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

HansOersted · 2024-05-24T04:27:51Z

Description

The MPC steering angle stops tracking the actual one while the car is driving manually.

This causes the so-called "improper initial steering angle" after switching from manual to auto as below:

case 1
Screencast from 06-14-2024 01:39:49 PM.webm

case 2
Screencast from 06-14-2024 02:10:00 PM.webm

case 3
Screencast from 06-14-2024 02:31:54 PM.webm

This PR aligns the MPC steering angle when the car is controlled manually.

The resulting response of the updated algorithm is given below:

case 1 (after modification)
Screencast from 06-14-2024 01:27:01 PM.webm

case 2 (after modification)
Screencast from 06-14-2024 02:04:21 PM.webm

case 3 (after modification)
Screencast from 06-14-2024 02:28:51 PM.webm

The flag used is const bool is_under_control = input_data.current_operation_mode.is_autoware_control_enabled &&
input_data.current_operation_mode.mode ==
autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;

Tests performed

https://evaluation.tier4.jp/evaluation/reports/b49b340f-dcb8-5bf0-8feb-7dfbdfd24179?page=1&project_id=prd_jt

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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control/mpc_lateral_controller/src/mpc.cpp

control/mpc_lateral_controller/src/mpc_lateral_controller.cpp

kyoichi-sugahara · 2024-06-04T16:15:19Z

@HansOersted
FYI: you can choose PR template and if a big change (e,g, interface chenge) is not included, you can choose small change. Then you don't need to describe about your change that much.

TakaHoribe

If the vehicle does not follow the MPC command (e.g. in manual mode), the previous value used to keep the consistency will not make sense. It is reasonable to reset the previous value to the current value in this case.

TakaHoribe · 2024-06-17T05:25:45Z

@HansOersted Please read the description and make sure these check box are done before merge.

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

…abled Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

codecov · 2024-06-19T07:17:16Z

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 18.89%. Comparing base (507e3f4) to head (0eeaf6d).
Report is 65 commits behind head on main.

Files	Patch %	Lines
..._lateral_controller/src/mpc_lateral_controller.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #7109       +/-   ##
===========================================
+ Coverage   14.84%   18.89%    +4.05%     
===========================================
  Files        1999      149     -1850     
  Lines      139163    13429   -125734     
  Branches    43716     2214    -41502     
===========================================
- Hits        20661     2538    -18123     
+ Misses      95731    10537    -85194     
+ Partials    22771      354    -22417

Flag	Coverage Δ
differential	`18.89% <0.00%> (?)`
total	`?`

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Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

…r is controlled manually. (autowarefoundation#7109) * align the MPC steering angle when the car is controlled manually. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * update the condition for is_driving_manually Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * STOP mode included Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * comment the is_driving_manually Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * align the steering outside (after) the solver. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * use the flag input_data.current_operation_mode.is_autoware_control_enabled Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct a typo Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct the under control condition check Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * undo the space delete Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * unchange the unrelevant line Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>

…r is controlled manually. (#7109) * align the MPC steering angle when the car is controlled manually. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * update the condition for is_driving_manually Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * STOP mode included Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * comment the is_driving_manually Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * align the steering outside (after) the solver. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * use the flag input_data.current_operation_mode.is_autoware_control_enabled Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct a typo Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct the under control condition check Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * undo the space delete Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * unchange the unrelevant line Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

github-actions bot added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label May 24, 2024

HansOersted changed the title ~~align the MPC steering angle when the car is controlled manually.~~ fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. May 24, 2024

HansOersted marked this pull request as ready for review May 24, 2024 04:30

HansOersted requested review from TakaHoribe and takayuki5168 as code owners May 24, 2024 04:30

HansOersted force-pushed the steer_align_while_manually branch from 893f5af to fb242a6 Compare May 27, 2024 05:17

TakaHoribe reviewed Jun 3, 2024

View reviewed changes

control/mpc_lateral_controller/src/mpc.cpp Outdated Show resolved Hide resolved

control/mpc_lateral_controller/src/mpc_lateral_controller.cpp Outdated Show resolved Hide resolved

HansOersted force-pushed the steer_align_while_manually branch from 3b04ccd to ce00f6d Compare June 17, 2024 02:03

HansOersted requested a review from TakaHoribe June 17, 2024 02:09

TakaHoribe approved these changes Jun 17, 2024

View reviewed changes

HansOersted added 10 commits June 19, 2024 13:48

align the MPC steering angle when the car is controlled manually.

0f5e363

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

update the condition for is_driving_manually

7c20ce0

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

STOP mode included

6e3b0c9

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

comment the is_driving_manually

6167823

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

align the steering outside (after) the solver.

5a18803

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

use the flag input_data.current_operation_mode.is_autoware_control_en…

60442b7

…abled Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

correct a typo

1e8bddb

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

correct the under control condition check

cab2c35

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

undo the space delete

a268542

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

unchange the unrelevant line

5e044bf

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

satoshi-ota force-pushed the steer_align_while_manually branch from 3ed6531 to 5e044bf Compare June 19, 2024 04:48

takayuki5168 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 19, 2024

pre-commit

0eeaf6d

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

HansOersted merged commit d677314 into autowarefoundation:main Jun 20, 2024
28 of 30 checks passed

HansOersted deleted the steer_align_while_manually branch June 20, 2024 01:29

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fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

HansOersted commented May 24, 2024 •

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kyoichi-sugahara commented Jun 4, 2024

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TakaHoribe commented Jun 17, 2024

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fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

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HansOersted commented May 24, 2024 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

kyoichi-sugahara commented Jun 4, 2024

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TakaHoribe commented Jun 17, 2024

codecov bot commented Jun 19, 2024 • edited Loading

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HansOersted commented May 24, 2024 •

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codecov bot commented Jun 19, 2024 •

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