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refactor(mpc_lateral_controller): minor refactor for updateOffset #5314

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refactor(mpc_lateral_controller): minor refactor for updateOffset #5314

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9aae0a9
minor refactor for updateOffset
kyoichi-sugahara Oct 16, 2023
1290540
Update control/mpc_lateral_controller/src/steering_offset/steering_of…
kyoichi-sugahara Oct 18, 2023
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2 changes: 1 addition & 1 deletion ...mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ class SteeringOffsetEstimator
~SteeringOffsetEstimator() = default;

double getOffset() const;
void updateOffset(const geometry_msgs::msg::Twist & twist, const double steering);
void updateOffset(const geometry_msgs::msg::Twist & twist, const double measured_steering_angle);

private:
// parameters
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12 changes: 8 additions & 4 deletions control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,16 +30,20 @@ SteeringOffsetEstimator::SteeringOffsetEstimator(
}

void SteeringOffsetEstimator::updateOffset(
const geometry_msgs::msg::Twist & twist, const double steering)
const geometry_msgs::msg::Twist & twist, const double measured_steering_angle)
{
const bool update_offset =
(std::abs(twist.linear.x) > update_vel_threshold_ &&
std::abs(steering) < update_steer_threshold_);
std::abs(measured_steering_angle) < update_steer_threshold_);

if (!update_offset) return;

const auto steer_angvel = std::atan2(twist.angular.z * wheelbase_, twist.linear.x);
const auto steer_offset = steering - steer_angvel;
// Assuming the yaw rate and speed are sufficiently accurate, we calculate the expected steering
// angle for the current yaw rate and speed from the vehicle model. To ignore dynamic
// characteristics such as steering delay or slip, estimation is performed only when the vehicle
// is driving at high speed and the steering angle is close to zero position.
const auto expected_steering_angle = std::atan2(twist.angular.z * wheelbase_, twist.linear.x);
const auto steer_offset = measured_steering_angle - expected_steering_angle;
steering_offset_storage_.push_back(steer_offset);
if (steering_offset_storage_.size() > average_num_) {
steering_offset_storage_.pop_front();
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