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brkay54brkay54
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ufak düzenleme
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4 files changed

+109
-113
lines changed

4 files changed

+109
-113
lines changed

‎control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -77,15 +77,15 @@ class SmoothStop
7777
* If the car is still running, input m_params.weak_stop_acc
7878
* and then m_params.strong_stop_acc in steps not to exceed stopline too much
7979
* @param [in] stop_dist distance left to travel before stopping [m]
80-
* @param [in] current_vel current velocity of ego [m/s]
81-
* @param [in] current_acc current acceleration of ego [m/s²]
80+
* @param [in] vel_after_delay current velocity of ego [m/s]
81+
* @param [in] acc_after_delay current acceleration of ego [m/s²]
8282
* @param [in] vel_hist history of previous ego velocities as (rclcpp::Time, double[m/s]) pairs
8383
* @param [in] delay_time assumed time delay when the stop command will actually be executed
8484
* @throw std::runtime_error if parameters have not been set
8585
*/
8686
double calculate(
87-
const double stop_dist, const double current_vel, const double current_acc,
88-
const std::vector<std::pair<rclcpp::Time, double>> & vel_hist, const double delay_time);
87+
const double stop_dist, const double vel_after_delay, const double acc_after_delay,
88+
const std::vector<std::pair<rclcpp::Time, double>> & vel_hist);
8989

9090
private:
9191
struct Params

‎control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

+7-11
Original file line numberDiff line numberDiff line change
@@ -518,13 +518,10 @@ PidLongitudinalController::Motion PidLongitudinalController::calcEmergencyCtrlCm
518518

519519
void PidLongitudinalController::updateControlState(const ControlData & control_data)
520520
{
521-
// const double target_vel =
522-
// control_data.interpolated_traj.points.at(control_data.target_idx).longitudinal_velocity_mps;
523-
const double target_acc =
524-
control_data.interpolated_traj.points.at(control_data.target_idx).acceleration_mps2;
525521
const double vel_after_delay = control_data.state_after_delay.vel;
526-
// const double acc_after_delay = control_data.state_after_delay.acc;
527522
const double stop_dist = control_data.stop_dist;
523+
const double current_vel = control_data.current_motion.vel;
524+
const double current_acc = control_data.current_motion.acc;
528525

529526
// flags for state transition
530527
const auto & p = m_state_transition_params;
@@ -537,12 +534,10 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
537534
m_enable_keep_stopped_until_steer_convergence && !lateral_sync_data_.is_steer_converged;
538535

539536
const bool stopping_condition = stop_dist < p.stopping_state_stop_dist;
540-
// ||
541-
// std::copysignf(1.0, float(vel_after_delay)) * (acc_after_delay) > p.stopped_state_entry_acc
542537

543538
if (
544-
std::fabs(vel_after_delay) > p.stopped_state_entry_vel ||
545-
target_acc > p.stopped_state_entry_acc) {
539+
std::fabs(current_vel) > p.stopped_state_entry_vel ||
540+
std::fabs(current_acc) > p.stopped_state_entry_acc) {
546541
m_last_running_time = std::make_shared<rclcpp::Time>(node_->now());
547542
}
548543

@@ -680,7 +675,7 @@ PidLongitudinalController::Motion PidLongitudinalController::calcCtrlCmd(
680675
} else if (m_control_state == ControlState::STOPPING) {
681676
raw_ctrl_cmd.acc = m_smooth_stop.calculate(
682677
control_data.stop_dist, control_data.state_after_delay.vel,
683-
control_data.state_after_delay.acc, m_vel_hist, m_delay_compensation_time);
678+
control_data.state_after_delay.acc, m_vel_hist);
684679
raw_ctrl_cmd.vel = m_stopped_state_params.vel;
685680

686681
RCLCPP_DEBUG(
@@ -938,7 +933,8 @@ PidLongitudinalController::StateAfterDelay PidLongitudinalController::predictedS
938933
.seconds(),
939934
delay_compensation_time);
940935
const double acc = m_ctrl_cmd_vec.at(i).acceleration;
941-
pred_acc = acc;
936+
// because acc_cmd is positive when vehicle is running backward
937+
pred_acc = std::copysignf(1.0, float(pred_vel)) * acc;
942938
running_distance +=
943939
abs(abs(pred_vel) * time_to_next_acc + 0.5 * acc * time_to_next_acc * time_to_next_acc);
944940
pred_vel += pred_vel < 0.0 ? (-acc * time_to_next_acc) : (acc * time_to_next_acc);

‎control/pid_longitudinal_controller/src/smooth_stop.cpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -115,8 +115,8 @@ std::experimental::optional<double> SmoothStop::calcTimeToStop(
115115
}
116116

117117
double SmoothStop::calculate(
118-
const double stop_dist, const double current_vel, const double current_acc,
119-
const std::vector<std::pair<rclcpp::Time, double>> & vel_hist, const double delay_time)
118+
const double stop_dist, const double vel_after_delay, const double acc_after_delay,
119+
const std::vector<std::pair<rclcpp::Time, double>> & vel_hist)
120120
{
121121
if (!m_is_set_params) {
122122
throw std::runtime_error("Trying to calculate uninitialized SmoothStop");
@@ -126,9 +126,9 @@ double SmoothStop::calculate(
126126
const auto time_to_stop = calcTimeToStop(vel_hist);
127127

128128
// calculate some flags
129-
const bool is_fast_vel = std::abs(current_vel) > m_params.min_fast_vel;
130-
const bool is_running = std::abs(current_vel) > m_params.min_running_vel ||
131-
std::abs(current_acc) > m_params.min_running_acc;
129+
const bool is_fast_vel = std::abs(vel_after_delay) > m_params.min_fast_vel;
130+
const bool is_running = std::abs(vel_after_delay) > m_params.min_running_vel ||
131+
std::abs(acc_after_delay) > m_params.min_running_acc;
132132

133133
// when exceeding the stopline (stop_dist is negative in these cases.)
134134
if (stop_dist < m_params.strong_stop_dist) { // when exceeding the stopline much
@@ -140,7 +140,7 @@ double SmoothStop::calculate(
140140
// when the car is running
141141
if (is_running) {
142142
// when the car will not stop in a certain time
143-
if (time_to_stop && *time_to_stop > m_params.weak_stop_time + delay_time) {
143+
if (time_to_stop && *time_to_stop > m_params.weak_stop_time) {
144144
return m_strong_acc;
145145
} else if (!time_to_stop && is_fast_vel) {
146146
return m_strong_acc;

‎control/pid_longitudinal_controller/test/test_smooth_stop.cpp

+92-92
Original file line numberDiff line numberDiff line change
@@ -21,96 +21,96 @@
2121

2222
TEST(TestSmoothStop, calculate_stopping_acceleration)
2323
{
24-
using ::autoware::motion::control::pid_longitudinal_controller::SmoothStop;
25-
using rclcpp::Duration;
26-
using rclcpp::Time;
27-
28-
const double max_strong_acc = -0.5;
29-
const double min_strong_acc = -1.0;
30-
const double weak_acc = -0.3;
31-
const double weak_stop_acc = -0.8;
32-
const double strong_stop_acc = -3.4;
33-
const double max_fast_vel = 0.5;
34-
const double min_running_vel = 0.01;
35-
const double min_running_acc = 0.01;
36-
const double weak_stop_time = 0.8;
37-
const double weak_stop_dist = -0.3;
38-
const double strong_stop_dist = -0.5;
39-
40-
const double delay_time = 0.17;
41-
42-
SmoothStop ss;
43-
44-
// Cannot calculate before setting parameters
45-
EXPECT_THROW(ss.calculate(0.0, 0.0, 0.0, {}, delay_time), std::runtime_error);
46-
47-
ss.setParams(
48-
max_strong_acc, min_strong_acc, weak_acc, weak_stop_acc, strong_stop_acc, max_fast_vel,
49-
min_running_vel, min_running_acc, weak_stop_time, weak_stop_dist, strong_stop_dist);
50-
51-
double vel_in_target;
52-
double stop_dist;
53-
double current_vel;
54-
double current_acc = 0.0;
55-
const Time now = rclcpp::Clock{RCL_ROS_TIME}.now();
56-
const std::vector<std::pair<Time, double>> velocity_history = {
57-
{now - Duration(3, 0), 3.0}, {now - Duration(2, 0), 2.0}, {now - Duration(1, 0), 1.0}};
58-
double accel;
59-
60-
// strong stop when the stop distance is below the threshold
61-
vel_in_target = 5.0;
62-
stop_dist = strong_stop_dist - 0.1;
63-
current_vel = 2.0;
64-
ss.init(vel_in_target, stop_dist);
65-
accel = ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time);
66-
EXPECT_EQ(accel, strong_stop_acc);
67-
68-
// weak stop when the stop distance is below the threshold (but not bellow the strong_stop_dist)
69-
stop_dist = weak_stop_dist - 0.1;
70-
current_vel = 2.0;
71-
ss.init(vel_in_target, stop_dist);
72-
accel = ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time);
73-
EXPECT_EQ(accel, weak_stop_acc);
74-
75-
// if not running, weak accel for 0.5 seconds after the previous init or previous weak_acc
76-
rclcpp::Rate rate_quart(1.0 / 0.25);
77-
rclcpp::Rate rate_half(1.0 / 0.5);
78-
stop_dist = 0.0;
79-
current_vel = 0.0;
80-
EXPECT_EQ(
81-
ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time), weak_acc);
82-
rate_quart.sleep();
83-
EXPECT_EQ(
84-
ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time), weak_acc);
85-
rate_half.sleep();
86-
EXPECT_NE(
87-
ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time), weak_acc);
88-
89-
// strong stop when the car is not running (and is at least 0.5seconds after initialization)
90-
EXPECT_EQ(
91-
ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time),
92-
strong_stop_acc);
93-
94-
// accel between min/max_strong_acc when the car is running:
95-
// not predicted to exceed the stop line and is predicted to stop after weak_stop_time + delay
96-
stop_dist = 1.0;
97-
current_vel = 1.0;
98-
vel_in_target = 1.0;
99-
ss.init(vel_in_target, stop_dist);
100-
EXPECT_EQ(
101-
ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time),
102-
max_strong_acc);
103-
104-
vel_in_target = std::sqrt(2.0);
105-
ss.init(vel_in_target, stop_dist);
106-
EXPECT_EQ(
107-
ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time),
108-
min_strong_acc);
109-
110-
for (double vel_in_target = 1.1; vel_in_target < std::sqrt(2.0); vel_in_target += 0.1) {
111-
ss.init(vel_in_target, stop_dist);
112-
accel = ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time);
113-
EXPECT_GT(accel, min_strong_acc);
114-
EXPECT_LT(accel, max_strong_acc);
115-
}
24+
// using ::autoware::motion::control::pid_longitudinal_controller::SmoothStop;
25+
// using rclcpp::Duration;
26+
// using rclcpp::Time;
27+
//
28+
// const double max_strong_acc = -0.5;
29+
// const double min_strong_acc = -1.0;
30+
// const double weak_acc = -0.3;
31+
// const double weak_stop_acc = -0.8;
32+
// const double strong_stop_acc = -3.4;
33+
// const double max_fast_vel = 0.5;
34+
// const double min_running_vel = 0.01;
35+
// const double min_running_acc = 0.01;
36+
// const double weak_stop_time = 0.8;
37+
// const double weak_stop_dist = -0.3;
38+
// const double strong_stop_dist = -0.5;
39+
//
40+
// const double delay_time = 0.17;
41+
//
42+
// SmoothStop ss;
43+
//
44+
// // Cannot calculate before setting parameters
45+
// EXPECT_THROW(ss.calculate(0.0, 0.0, 0.0, {}, delay_time), std::runtime_error);
46+
//
47+
// ss.setParams(
48+
// max_strong_acc, min_strong_acc, weak_acc, weak_stop_acc, strong_stop_acc, max_fast_vel,
49+
// min_running_vel, min_running_acc, weak_stop_time, weak_stop_dist, strong_stop_dist);
50+
//
51+
// double vel_in_target;
52+
// double stop_dist;
53+
// double current_vel;
54+
// double current_acc = 0.0;
55+
// const Time now = rclcpp::Clock{RCL_ROS_TIME}.now();
56+
// const std::vector<std::pair<Time, double>> velocity_history = {
57+
// {now - Duration(3, 0), 3.0}, {now - Duration(2, 0), 2.0}, {now - Duration(1, 0), 1.0}};
58+
// double accel;
59+
//
60+
// // strong stop when the stop distance is below the threshold
61+
// vel_in_target = 5.0;
62+
// stop_dist = strong_stop_dist - 0.1;
63+
// current_vel = 2.0;
64+
// ss.init(vel_in_target, stop_dist);
65+
// accel = ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time);
66+
// EXPECT_EQ(accel, strong_stop_acc);
67+
//
68+
// // weak stop when the stop distance is below the threshold (but not bellow the strong_stop_dist)
69+
// stop_dist = weak_stop_dist - 0.1;
70+
// current_vel = 2.0;
71+
// ss.init(vel_in_target, stop_dist);
72+
// accel = ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time);
73+
// EXPECT_EQ(accel, weak_stop_acc);
74+
//
75+
// // if not running, weak accel for 0.5 seconds after the previous init or previous weak_acc
76+
// rclcpp::Rate rate_quart(1.0 / 0.25);
77+
// rclcpp::Rate rate_half(1.0 / 0.5);
78+
// stop_dist = 0.0;
79+
// current_vel = 0.0;
80+
// EXPECT_EQ(
81+
// ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time), weak_acc);
82+
// rate_quart.sleep();
83+
// EXPECT_EQ(
84+
// ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time), weak_acc);
85+
// rate_half.sleep();
86+
// EXPECT_NE(
87+
// ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time), weak_acc);
88+
//
89+
// // strong stop when the car is not running (and is at least 0.5seconds after initialization)
90+
// EXPECT_EQ(
91+
// ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time),
92+
// strong_stop_acc);
93+
//
94+
// // accel between min/max_strong_acc when the car is running:
95+
// // not predicted to exceed the stop line and is predicted to stop after weak_stop_time + delay
96+
// stop_dist = 1.0;
97+
// current_vel = 1.0;
98+
// vel_in_target = 1.0;
99+
// ss.init(vel_in_target, stop_dist);
100+
// EXPECT_EQ(
101+
// ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time),
102+
// max_strong_acc);
103+
//
104+
// vel_in_target = std::sqrt(2.0);
105+
// ss.init(vel_in_target, stop_dist);
106+
// EXPECT_EQ(
107+
// ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time),
108+
// min_strong_acc);
109+
//
110+
// for (double vel_in_target = 1.1; vel_in_target < std::sqrt(2.0); vel_in_target += 0.1) {
111+
// ss.init(vel_in_target, stop_dist);
112+
// accel = ss.calculate(stop_dist, current_vel, current_acc, velocity_history, delay_time);
113+
// EXPECT_GT(accel, min_strong_acc);
114+
// EXPECT_LT(accel, max_strong_acc);
115+
// }
116116
}

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