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feat(pid_longitudinal_controller): fix some bugs and improve delay co…
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…mpensation autowarefoundation#4712

Signed-off-by: Berkay Karaman <[email protected]>
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@LeoDriveProject
LeoDriveProject committed Aug 23, 2023
1 parent 6cdce70 commit 90bc35f
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Showing 5 changed files with 467 additions and 384 deletions.
28 changes: 18 additions & 10 deletions ...itudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,7 @@
#include <cmath>
#include <limits>

namespace autoware::motion::control::pid_longitudinal_controller
{
namespace longitudinal_utils
namespace autoware::motion::control::pid_longitudinal_controller::longitudinal_utils
{

using autoware_auto_planning_msgs::msg::Trajectory;
Expand Down Expand Up @@ -75,9 +73,8 @@ double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint
* @brief calculate vehicle pose after time delay by moving the vehicle at current velocity and
* acceleration for delayed time
*/
Pose calcPoseAfterTimeDelay(
const Pose & current_pose, const double delay_time, const double current_vel,
const double current_acc);
std::pair<double, double> calcDistAndVelAfterTimeDelay(
const double delay_time, const double current_vel, const double current_acc);

/**
* @brief apply linear interpolation to orientation
Expand All @@ -93,7 +90,7 @@ Quaternion lerpOrientation(const Quaternion & o_from, const Quaternion & o_to, c
* @param [in] point Interpolated point is nearest to this point.
*/
template <class T>
TrajectoryPoint lerpTrajectoryPoint(
std::pair<TrajectoryPoint, size_t> lerpTrajectoryPoint(
const T & points, const Pose & pose, const double max_dist, const double max_yaw)
{
TrajectoryPoint interpolated_point;
Expand All @@ -112,6 +109,8 @@ TrajectoryPoint lerpTrajectoryPoint(
points.at(i).pose.position.x, points.at(i + 1).pose.position.x, interpolate_ratio);
interpolated_point.pose.position.y = interpolation::lerp(
points.at(i).pose.position.y, points.at(i + 1).pose.position.y, interpolate_ratio);
interpolated_point.pose.position.z = interpolation::lerp(
points.at(i).pose.position.z, points.at(i + 1).pose.position.z, interpolate_ratio);
interpolated_point.pose.orientation = lerpOrientation(
points.at(i).pose.orientation, points.at(i + 1).pose.orientation, interpolate_ratio);
interpolated_point.longitudinal_velocity_mps = interpolation::lerp(
Expand All @@ -125,7 +124,7 @@ TrajectoryPoint lerpTrajectoryPoint(
points.at(i).heading_rate_rps, points.at(i + 1).heading_rate_rps, interpolate_ratio);
}

return interpolated_point;
return std::make_pair(interpolated_point, seg_idx);
}

/**
Expand All @@ -149,7 +148,16 @@ double applyDiffLimitFilter(
double applyDiffLimitFilter(
const double input_val, const double prev_val, const double dt, const double max_val,
const double min_val);
} // namespace longitudinal_utils
} // namespace autoware::motion::control::pid_longitudinal_controller

/**
* @brief calculate the projected pose after distance from the current index
* @param [in] src_idx current index
* @param [in] distance distance to project
* @param [in] trajectory reference trajectory
*/
geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
const size_t src_idx, const double distance,
const autoware_auto_planning_msgs::msg::Trajectory & trajectory);
} // namespace autoware::motion::control::pid_longitudinal_controller::longitudinal_utils

#endif // PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_
38 changes: 21 additions & 17 deletions ...ngitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,13 +64,25 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
double vel{0.0};
double acc{0.0};
};

struct StateAfterDelay
{
StateAfterDelay(const double velocity, const double acceleration, const double distance)
: vel(velocity), acc(acceleration), running_distance(distance)
{
}
double vel{0.0};
double acc{0.0};
double running_distance{0.0};
};
enum class Shift { Forward = 0, Reverse };

struct ControlData
{
bool is_far_from_trajectory{false};
autoware_auto_planning_msgs::msg::Trajectory interpolated_traj{};
size_t nearest_idx{0}; // nearest_idx = 0 when nearest_idx is not found with findNearestIdx
size_t target_idx{0};
StateAfterDelay state_after_delay{0.0, 0.0, 0.0};
Motion current_motion{};
Shift shift{Shift::Forward}; // shift is used only to calculate the sign of pitch compensation
double stop_dist{0.0}; // signed distance that is positive when car is before the stopline
Expand Down Expand Up @@ -268,11 +280,9 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro

/**
* @brief calculate control command based on the current control state
* @param [in] current_pose current ego pose
* @param [in] control_data control data
*/
Motion calcCtrlCmd(
const geometry_msgs::msg::Pose & current_pose, const ControlData & control_data);
Motion calcCtrlCmd(const ControlData & control_data);

/**
* @brief publish control command
Expand Down Expand Up @@ -303,7 +313,7 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
* @brief calculate direction (forward or backward) that vehicle moves
* @param [in] nearest_idx nearest index on trajectory to vehicle
*/
enum Shift getCurrentShift(const size_t nearest_idx) const;
enum Shift getCurrentShift(const ControlData & control_data) const;

/**
* @brief filter acceleration command with limitation of acceleration and jerk, and slope
Expand Down Expand Up @@ -342,7 +352,8 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
* @param [in] point vehicle position
* @param [in] nearest_idx index of the trajectory point nearest to the vehicle position
*/
autoware_auto_planning_msgs::msg::TrajectoryPoint calcInterpolatedTargetValue(
std::pair<autoware_auto_planning_msgs::msg::TrajectoryPoint, size_t>
calcInterpolatedTrajPointAndSegment(
const autoware_auto_planning_msgs::msg::Trajectory & traj,
const geometry_msgs::msg::Pose & pose) const;

Expand All @@ -351,18 +362,14 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
* @param [in] current_motion current velocity and acceleration of the vehicle
* @param [in] delay_compensation_time predicted time delay
*/
double predictedVelocityInTargetPoint(
StateAfterDelay predictedStateAfterDelay(
const Motion current_motion, const double delay_compensation_time) const;

/**
* @brief calculate velocity feedback with feed forward and pid controller
* @param [in] target_motion reference velocity and acceleration. This acceleration will be used
* as feed forward.
* @param [in] dt time step to use
* @param [in] current_vel current velocity of the vehicle
* @param [in] control_data data for control calculation
*/
double applyVelocityFeedback(
const Motion target_motion, const double dt, const double current_vel);
double applyVelocityFeedback(const ControlData & control_data);

/**
* @brief update variables for debugging about pitch
Expand All @@ -375,12 +382,9 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
/**
* @brief update variables for velocity and acceleration
* @param [in] ctrl_cmd latest calculated control command
* @param [in] current_pose current pose of the vehicle
* @param [in] control_data data for control calculation
*/
void updateDebugVelAcc(
const Motion & ctrl_cmd, const geometry_msgs::msg::Pose & current_pose,
const ControlData & control_data);
void updateDebugVelAcc(const Motion & ctrl_cmd, const ControlData & control_data);
};
} // namespace autoware::motion::control::pid_longitudinal_controller

Expand Down
70 changes: 44 additions & 26 deletions control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,6 @@
#include "tf2/LinearMath/Matrix3x3.h"
#include "tf2/LinearMath/Quaternion.h"

#include <experimental/optional> // NOLINT

#ifdef ROS_DISTRO_GALACTIC
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#else
Expand All @@ -28,9 +26,7 @@
#include <algorithm>
#include <limits>

namespace autoware::motion::control::pid_longitudinal_controller
{
namespace longitudinal_utils
namespace autoware::motion::control::pid_longitudinal_controller::longitudinal_utils
{

bool isValidTrajectory(const Trajectory & traj)
Expand All @@ -48,11 +44,7 @@ bool isValidTrajectory(const Trajectory & traj)
}

// when trajectory is empty
if (traj.points.empty()) {
return false;
}

return true;
return !traj.points.empty();
}

double calcStopDistance(
Expand All @@ -75,7 +67,9 @@ double calcStopDistance(

double getPitchByPose(const Quaternion & quaternion_msg)
{
double roll, pitch, yaw;
double roll{0.0};
double pitch{0.0};
double yaw{0.0};
tf2::Quaternion quaternion;
tf2::fromMsg(quaternion_msg, quaternion);
tf2::Matrix3x3{quaternion}.getRPY(roll, pitch, yaw);
Expand Down Expand Up @@ -128,12 +122,11 @@ double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint
return pitch;
}

Pose calcPoseAfterTimeDelay(
const Pose & current_pose, const double delay_time, const double current_vel,
const double current_acc)
std::pair<double, double> calcDistAndVelAfterTimeDelay(
const double delay_time, const double current_vel, const double current_acc)
{
if (delay_time <= 0.0) {
return current_pose;
return std::make_pair(0.0, 0.0);
}

// check time to stop
Expand All @@ -142,17 +135,11 @@ Pose calcPoseAfterTimeDelay(
const double delay_time_calculation =
time_to_stop > 0.0 && time_to_stop < delay_time ? time_to_stop : delay_time;
// simple linear prediction
const double yaw = tf2::getYaw(current_pose.orientation);
const double vel_after_delay = current_vel + current_acc * delay_time_calculation;
const double running_distance = delay_time_calculation * current_vel + 0.5 * current_acc *
delay_time_calculation *
delay_time_calculation;
const double dx = running_distance * std::cos(yaw);
const double dy = running_distance * std::sin(yaw);

auto pred_pose = current_pose;
pred_pose.position.x += dx;
pred_pose.position.y += dy;
return pred_pose;
return std::make_pair(running_distance, vel_after_delay);
}

double lerp(const double v_from, const double v_to, const double ratio)
Expand All @@ -162,7 +149,8 @@ double lerp(const double v_from, const double v_to, const double ratio)

Quaternion lerpOrientation(const Quaternion & o_from, const Quaternion & o_to, const double ratio)
{
tf2::Quaternion q_from, q_to;
tf2::Quaternion q_from;
tf2::Quaternion q_to;
tf2::fromMsg(o_from, q_from);
tf2::fromMsg(o_to, q_to);

Expand All @@ -187,5 +175,35 @@ double applyDiffLimitFilter(
const double min_val = -max_val;
return applyDiffLimitFilter(input_val, prev_val, dt, max_val, min_val);
}
} // namespace longitudinal_utils
} // namespace autoware::motion::control::pid_longitudinal_controller

geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
const size_t src_idx, const double distance,
const autoware_auto_planning_msgs::msg::Trajectory & trajectory)
{
double remain_dist = distance;
geometry_msgs::msg::Pose p = trajectory.points.back().pose;
for (size_t i = src_idx; i < trajectory.points.size() - 1; ++i) {
const double dist = tier4_autoware_utils::calcDistance3d(
trajectory.points.at(i).pose, trajectory.points.at(i + 1).pose);
if (remain_dist < dist) {
if (remain_dist <= 0.0) {
return trajectory.points.at(i).pose;
}
double ratio = remain_dist / dist;
p = trajectory.points.at(i).pose;
p.position.x = trajectory.points.at(i).pose.position.x +
ratio * (trajectory.points.at(i + 1).pose.position.x -
trajectory.points.at(i).pose.position.x);
p.position.y = trajectory.points.at(i).pose.position.y +
ratio * (trajectory.points.at(i + 1).pose.position.y -
trajectory.points.at(i).pose.position.y);
p.position.z = trajectory.points.at(i).pose.position.z +
ratio * (trajectory.points.at(i + 1).pose.position.z -
trajectory.points.at(i).pose.position.z);
break;
}
remain_dist -= dist;
}
return p;
}
} // namespace autoware::motion::control::pid_longitudinal_controller::longitudinal_utils
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