From 6f6c851cd14126339561dc870a260f617613c49e Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 23 Aug 2023 12:16:28 +0900 Subject: [PATCH 1/4] feat(vehicle_cmd_gate): variable filter limits for different ego speed (#4599) * feat(vehicle_cmd_gate): variable filter limits for different vehicle speed Signed-off-by: Takamasa Horibe * add steer diff test Signed-off-by: Takamasa Horibe * add node test for vehicle_cmd_gate Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe * update readme Signed-off-by: Takamasa Horibe * add is_filter_activated msg Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe * update is_activate for each field Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe * Update control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp * add function test for interpolation Signed-off-by: Takamasa Horibe * fix format Signed-off-by: Takamasa Horibe * remove unused file Signed-off-by: Takamasa Horibe * add missing depend Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- control/vehicle_cmd_gate/CMakeLists.txt | 20 +- control/vehicle_cmd_gate/README.md | 52 ++- .../config/vehicle_cmd_gate.param.yaml | 22 +- control/vehicle_cmd_gate/image/filter.png | Bin 0 -> 89295 bytes .../launch/vehicle_cmd_gate.launch.xml | 2 +- .../msg/IsFilterActivated.msg | 10 + control/vehicle_cmd_gate/package.xml | 6 + .../src/vehicle_cmd_filter.cpp | 170 +++++++- .../src/vehicle_cmd_filter.hpp | 46 +- .../vehicle_cmd_gate/src/vehicle_cmd_gate.cpp | 45 +- .../vehicle_cmd_gate/src/vehicle_cmd_gate.hpp | 3 + .../test_filter_in_vehicle_cmd_gate_node.cpp | 400 ++++++++++++++++++ .../test/src/test_vehicle_cmd_filter.cpp | 289 ++++++++++++- 13 files changed, 986 insertions(+), 79 deletions(-) create mode 100644 control/vehicle_cmd_gate/image/filter.png create mode 100644 control/vehicle_cmd_gate/msg/IsFilterActivated.msg create mode 100644 control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt index 81ccac1ea8b66..c5db663ccc77e 100644 --- a/control/vehicle_cmd_gate/CMakeLists.txt +++ b/control/vehicle_cmd_gate/CMakeLists.txt @@ -13,13 +13,31 @@ ament_auto_add_library(vehicle_cmd_gate_node SHARED rclcpp_components_register_node(vehicle_cmd_gate_node PLUGIN "vehicle_cmd_gate::VehicleCmdGate" - EXECUTABLE vehicle_cmd_gate + EXECUTABLE vehicle_cmd_gate_exe ) +rosidl_generate_interfaces( + ${PROJECT_NAME} + "msg/IsFilterActivated.msg" + DEPENDENCIES builtin_interfaces +) + +# to use same package defined message +if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0) + rosidl_target_interfaces(vehicle_cmd_gate_node + ${PROJECT_NAME} "rosidl_typesupport_cpp") +else() + rosidl_get_typesupport_target( + cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp") + target_link_libraries(vehicle_cmd_gate_node "${cpp_typesupport_target}") +endif() + + if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_vehicle_cmd_gate test/src/test_main.cpp test/src/test_vehicle_cmd_filter.cpp + test/src/test_filter_in_vehicle_cmd_gate_node.cpp ) ament_target_dependencies(test_vehicle_cmd_gate rclcpp diff --git a/control/vehicle_cmd_gate/README.md b/control/vehicle_cmd_gate/README.md index a8ac8c46ae782..231c2c5022138 100644 --- a/control/vehicle_cmd_gate/README.md +++ b/control/vehicle_cmd_gate/README.md @@ -43,26 +43,38 @@ ## Parameters -| Parameter | Type | Description | -| ------------------------------------------- | ------ | --------------------------------------------------------------------------- | -| `update_period` | double | update period | -| `use_emergency_handling` | bool | true when emergency handler is used | -| `check_external_emergency_heartbeat` | bool | true when checking heartbeat for emergency stop | -| `system_emergency_heartbeat_timeout` | double | timeout for system emergency | -| `external_emergency_stop_heartbeat_timeout` | double | timeout for external emergency | -| `stop_hold_acceleration` | double | longitudinal acceleration cmd when vehicle should stop | -| `emergency_acceleration` | double | longitudinal acceleration cmd when vehicle stop with emergency | -| `moderate_stop_service_acceleration` | double | longitudinal acceleration cmd when vehicle stop with moderate stop service | -| `nominal.vel_lim` | double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) | -| `nominal.lon_acc_lim` | double | limit of longitudinal acceleration (activated in AUTONOMOUS operation mode) | -| `nominal.lon_jerk_lim` | double | limit of longitudinal jerk (activated in AUTONOMOUS operation mode) | -| `nominal.lat_acc_lim` | double | limit of lateral acceleration (activated in AUTONOMOUS operation mode) | -| `nominal.lat_jerk_lim` | double | limit of lateral jerk (activated in AUTONOMOUS operation mode) | -| `on_transition.vel_lim` | double | limit of longitudinal velocity (activated in TRANSITION operation mode) | -| `on_transition.lon_acc_lim` | double | limit of longitudinal acceleration (activated in TRANSITION operation mode) | -| `on_transition.lon_jerk_lim` | double | limit of longitudinal jerk (activated in TRANSITION operation mode) | -| `on_transition.lat_acc_lim` | double | limit of lateral acceleration (activated in TRANSITION operation mode) | -| `on_transition.lat_jerk_lim` | double | limit of lateral jerk (activated in TRANSITION operation mode) | +| Parameter | Type | Description | +| ------------------------------------------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `update_period` | double | update period | +| `use_emergency_handling` | bool | true when emergency handler is used | +| `check_external_emergency_heartbeat` | bool | true when checking heartbeat for emergency stop | +| `system_emergency_heartbeat_timeout` | double | timeout for system emergency | +| `external_emergency_stop_heartbeat_timeout` | double | timeout for external emergency | +| `stop_hold_acceleration` | double | longitudinal acceleration cmd when vehicle should stop | +| `emergency_acceleration` | double | longitudinal acceleration cmd when vehicle stop with emergency | +| `moderate_stop_service_acceleration` | double | longitudinal acceleration cmd when vehicle stop with moderate stop service | +| `nominal.vel_lim` | double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) | +| `nominal.reference_speed_point` | | velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | +| `nominal.lon_acc_lim` | | array of limits of longitudinal acceleration (activated in AUTONOMOUS operation mode) | +| `nominal.lon_jerk_lim` | | array of limits of longitudinal jerk (activated in AUTONOMOUS operation mode) | +| `nominal.lat_acc_lim` | | array of limits of lateral acceleration (activated in AUTONOMOUS operation mode) | +| `nominal.lat_jerk_lim` | | array of limits of lateral jerk (activated in AUTONOMOUS operation mode) | +| `on_transition.vel_lim` | double | limit of longitudinal velocity (activated in TRANSITION operation mode) | +| `on_transition.reference_speed_point` | | velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | +| `on_transition.lon_acc_lim` | | array of limits of longitudinal acceleration (activated in TRANSITION operation mode) | +| `on_transition.lon_jerk_lim` | | array of limits of longitudinal jerk (activated in TRANSITION operation mode) | +| `on_transition.lat_acc_lim` | | array of limits of lateral acceleration (activated in TRANSITION operation mode) | +| `on_transition.lat_jerk_lim` | | array of limits of lateral jerk (activated in TRANSITION operation mode) | + +## Filter function + +This module incorporates a limitation filter to the control command right before its published. Primarily for safety, this filter restricts the output range of all control commands published through Autoware. + +The limitation values are calculated based on the 1D interpolation of the limitation array parameters. Here is an example for the longitudinal jerk limit. + +![filter-example](./image/filter.png) + +Notation: this filter is not designed to enhance ride comfort. Its main purpose is to detect and remove abnormal values in the control outputs during the final stages of Autoware. If this filter is frequently active, it implies the control module may need tuning. If you're aiming to smoothen the signal via a low-pass filter or similar techniques, that should be handled in the control module. When the filter is activated, the topic `~/is_filter_activated` is published. ## Assumptions / Known limits diff --git a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index 7a49d3e5f82d3..8e3c8a6934615 100644 --- a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -13,15 +13,17 @@ stop_check_duration: 1.0 nominal: vel_lim: 25.0 - lon_acc_lim: 5.0 - lon_jerk_lim: 5.0 - lat_acc_lim: 5.0 - lat_jerk_lim: 7.0 - actual_steer_diff_lim: 1.0 + reference_speed_points: [20.0, 30.0] + lon_acc_lim: [5.0, 4.0] + lon_jerk_lim: [5.0, 4.0] + lat_acc_lim: [5.0, 4.0] + lat_jerk_lim: [7.0, 6.0] + actual_steer_diff_lim: [1.0, 0.8] on_transition: vel_lim: 50.0 - lon_acc_lim: 1.0 - lon_jerk_lim: 0.5 - lat_acc_lim: 2.0 - lat_jerk_lim: 7.0 - actual_steer_diff_lim: 1.0 + reference_speed_points: [20.0, 30.0] + lon_acc_lim: [1.0, 0.9] + lon_jerk_lim: [0.5, 0.4] 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zz8cr*4@%+&$g?NNvvu`r3^7&Jg={ug6rHt+L`IUn+@o)RVq!8myX0&@Ix3C+P@_@v z-`)mSpdVF*dbY-{k8o9iA4_vkdUzFILd}=7AO#7p21s6S!eEX{uG?zjJxkJ5@<-Zw`>F51Uv-u2(4SAWjvpMb^wf#68vt-FfB&>JJD)b9)> zx~>HZ1tAuEmRg2G;{MEq>8$3v#@}N8@A&N>e9wQM>-|gcUuyWLveSR9@xRs>ee?f2 cqJAqy&jt2zs^FWugMKN!P?sxzZXWzU06%U<=Kufz literal 0 HcmV?d00001 diff --git a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml index 644e937e0718d..a6cf7cdcf8c08 100644 --- a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml +++ b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/control/vehicle_cmd_gate/msg/IsFilterActivated.msg b/control/vehicle_cmd_gate/msg/IsFilterActivated.msg new file mode 100644 index 0000000000000..fdb47c0a78f08 --- /dev/null +++ b/control/vehicle_cmd_gate/msg/IsFilterActivated.msg @@ -0,0 +1,10 @@ +builtin_interfaces/Time stamp + +bool is_activated + +# for additional information +bool is_activated_on_steering +bool is_activated_on_steering_rate +bool is_activated_on_speed +bool is_activated_on_acceleration +bool is_activated_on_jerk diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index df1de9f370cb6..36bb662fb2f53 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -13,6 +13,8 @@ ament_cmake autoware_cmake + rosidl_default_generators + autoware_adapi_v1_msgs autoware_auto_control_msgs autoware_auto_system_msgs @@ -33,10 +35,14 @@ tier4_vehicle_msgs vehicle_info_util + rosidl_default_runtime + ament_cmake_ros ament_lint_auto autoware_lint_common + rosidl_interface_packages + ament_cmake diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index 49735da876d9a..8dec06c455868 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -24,6 +24,60 @@ VehicleCmdFilter::VehicleCmdFilter() { } +bool VehicleCmdFilter::setParameterWithValidation(const VehicleCmdFilterParam & p) +{ + const auto s = p.reference_speed_points.size(); + if ( + p.lon_acc_lim.size() != s || p.lon_jerk_lim.size() != s || p.lat_acc_lim.size() != s || + p.lat_jerk_lim.size() != s || p.actual_steer_diff_lim.size() != s) { + std::cerr << "VehicleCmdFilter::setParam() There is a size mismatch in the parameter. " + "Parameter initialization failed." + << std::endl; + return false; + } + + param_ = p; + return true; +} + +void VehicleCmdFilter::setLonAccLim(LimitArray v) +{ + auto tmp = param_; + tmp.lon_acc_lim = v; + setParameterWithValidation(tmp); +} +void VehicleCmdFilter::setLonJerkLim(LimitArray v) +{ + auto tmp = param_; + tmp.lon_jerk_lim = v; + setParameterWithValidation(tmp); +} +void VehicleCmdFilter::setLatAccLim(LimitArray v) +{ + auto tmp = param_; + tmp.lat_acc_lim = v; + setParameterWithValidation(tmp); +} +void VehicleCmdFilter::setLatJerkLim(LimitArray v) +{ + auto tmp = param_; + tmp.lat_jerk_lim = v; + setParameterWithValidation(tmp); +} +void VehicleCmdFilter::setActualSteerDiffLim(LimitArray v) +{ + auto tmp = param_; + tmp.actual_steer_diff_lim = v; + setParameterWithValidation(tmp); +} + +void VehicleCmdFilter::setParam(const VehicleCmdFilterParam & p) +{ + if (!setParameterWithValidation(p)) { + std::exit(EXIT_FAILURE); + } +} + void VehicleCmdFilter::limitLongitudinalWithVel(AckermannControlCommand & input) const { input.longitudinal.speed = std::max( @@ -33,28 +87,33 @@ void VehicleCmdFilter::limitLongitudinalWithVel(AckermannControlCommand & input) void VehicleCmdFilter::limitLongitudinalWithAcc( const double dt, AckermannControlCommand & input) const { + const auto lon_acc_lim = getLonAccLim(); input.longitudinal.acceleration = std::max( - std::min(static_cast(input.longitudinal.acceleration), param_.lon_acc_lim), - -param_.lon_acc_lim); + std::min(static_cast(input.longitudinal.acceleration), lon_acc_lim), -lon_acc_lim); input.longitudinal.speed = - limitDiff(input.longitudinal.speed, prev_cmd_.longitudinal.speed, param_.lon_acc_lim * dt); + limitDiff(input.longitudinal.speed, prev_cmd_.longitudinal.speed, lon_acc_lim * dt); } void VehicleCmdFilter::VehicleCmdFilter::limitLongitudinalWithJerk( const double dt, AckermannControlCommand & input) const { + const auto lon_jerk_lim = getLonJerkLim(); input.longitudinal.acceleration = limitDiff( - input.longitudinal.acceleration, prev_cmd_.longitudinal.acceleration, param_.lon_jerk_lim * dt); + input.longitudinal.acceleration, prev_cmd_.longitudinal.acceleration, lon_jerk_lim * dt); + input.longitudinal.jerk = + std::clamp(static_cast(input.longitudinal.jerk), -lon_jerk_lim, lon_jerk_lim); } void VehicleCmdFilter::limitLateralWithLatAcc( [[maybe_unused]] const double dt, AckermannControlCommand & input) const { + const auto lat_acc_lim = getLatAccLim(); + double latacc = calcLatAcc(input); - if (std::fabs(latacc) > param_.lat_acc_lim) { + if (std::fabs(latacc) > lat_acc_lim) { double v_sq = std::max(static_cast(input.longitudinal.speed * input.longitudinal.speed), 0.001); - double steer_lim = std::atan(param_.lat_acc_lim * param_.wheel_base / v_sq); + double steer_lim = std::atan(lat_acc_lim * param_.wheel_base / v_sq); input.lateral.steering_tire_angle = latacc > 0.0 ? steer_lim : -steer_lim; } } @@ -65,8 +124,10 @@ void VehicleCmdFilter::limitLateralWithLatJerk( double curr_latacc = calcLatAcc(input); double prev_latacc = calcLatAcc(prev_cmd_); - const double latacc_max = prev_latacc + param_.lat_jerk_lim * dt; - const double latacc_min = prev_latacc - param_.lat_jerk_lim * dt; + const auto lat_jerk_lim = getLatJerkLim(); + + const double latacc_max = prev_latacc + lat_jerk_lim * dt; + const double latacc_min = prev_latacc - lat_jerk_lim * dt; if (curr_latacc > latacc_max) { input.lateral.steering_tire_angle = calcSteerFromLatacc(input.longitudinal.speed, latacc_max); @@ -78,23 +139,60 @@ void VehicleCmdFilter::limitLateralWithLatJerk( void VehicleCmdFilter::limitActualSteerDiff( const double current_steer_angle, AckermannControlCommand & input) const { + const auto actual_steer_diff_lim = getSteerDiffLim(); + auto ds = input.lateral.steering_tire_angle - current_steer_angle; - ds = std::clamp(ds, -param_.actual_steer_diff_lim, param_.actual_steer_diff_lim); + ds = std::clamp(ds, -actual_steer_diff_lim, actual_steer_diff_lim); input.lateral.steering_tire_angle = current_steer_angle + ds; } +void VehicleCmdFilter::limitLateralSteer(AckermannControlCommand & input) const +{ + // TODO(Horibe): parametrize the max steering angle. + // TODO(Horibe): support steering greater than PI/2. Now the lateral acceleration + // calculation does not support bigger steering value than PI/2 due to tan/atan calculation. + constexpr float steer_limit = M_PI_2; + input.lateral.steering_tire_angle = + std::clamp(input.lateral.steering_tire_angle, -steer_limit, steer_limit); +} + void VehicleCmdFilter::filterAll( - const double dt, const double current_steer_angle, AckermannControlCommand & cmd) const + const double dt, const double current_steer_angle, AckermannControlCommand & cmd, + IsFilterActivated & is_activated) const { + const auto cmd_orig = cmd; + limitLateralSteer(cmd); limitLongitudinalWithJerk(dt, cmd); limitLongitudinalWithAcc(dt, cmd); limitLongitudinalWithVel(cmd); limitLateralWithLatJerk(dt, cmd); limitLateralWithLatAcc(dt, cmd); limitActualSteerDiff(current_steer_angle, cmd); + + is_activated = checkIsActivated(cmd, cmd_orig); return; } +IsFilterActivated VehicleCmdFilter::checkIsActivated( + const AckermannControlCommand & c1, const AckermannControlCommand & c2, const double tol) +{ + IsFilterActivated msg; + msg.is_activated_on_steering = + std::abs(c1.lateral.steering_tire_angle - c2.lateral.steering_tire_angle) > tol; + msg.is_activated_on_steering_rate = + std::abs(c1.lateral.steering_tire_rotation_rate - c2.lateral.steering_tire_rotation_rate) > tol; + msg.is_activated_on_speed = std::abs(c1.longitudinal.speed - c2.longitudinal.speed) > tol; + msg.is_activated_on_acceleration = + std::abs(c1.longitudinal.acceleration - c2.longitudinal.acceleration) > tol; + msg.is_activated_on_jerk = std::abs(c1.longitudinal.jerk - c2.longitudinal.jerk) > tol; + + msg.is_activated = + (msg.is_activated_on_steering || msg.is_activated_on_steering_rate || + msg.is_activated_on_speed || msg.is_activated_on_acceleration || msg.is_activated_on_jerk); + + return msg; +} + double VehicleCmdFilter::calcSteerFromLatacc(const double v, const double latacc) const { const double v_sq = std::max(v * v, 0.001); @@ -114,4 +212,56 @@ double VehicleCmdFilter::limitDiff( return prev + diff; } +double VehicleCmdFilter::interpolateFromSpeed(const LimitArray & limits) const +{ + // Consider only for the positive velocities. + const auto current = std::abs(current_speed_); + const auto reference = param_.reference_speed_points; + + // If the speed is out of range of the reference, apply zero-order hold. + if (current <= reference.front()) { + return limits.front(); + } + if (current >= reference.back()) { + return limits.back(); + } + + // Apply linear interpolation + for (size_t i = 0; i < reference.size() - 1; ++i) { + if (reference.at(i) <= current && current <= reference.at(i + 1)) { + auto ratio = + (current - reference.at(i)) / std::max(reference.at(i + 1) - reference.at(i), 1.0e-5); + ratio = std::clamp(ratio, 0.0, 1.0); + const auto interp = limits.at(i) + ratio * (limits.at(i + 1) - limits.at(i)); + return interp; + } + } + + std::cerr << "VehicleCmdFilter::interpolateFromSpeed() interpolation logic is broken. Command " + "filter is not working. Please check the code." + << std::endl; + return reference.back(); +} + +double VehicleCmdFilter::getLonAccLim() const +{ + return interpolateFromSpeed(param_.lon_acc_lim); +} +double VehicleCmdFilter::getLonJerkLim() const +{ + return interpolateFromSpeed(param_.lon_jerk_lim); +} +double VehicleCmdFilter::getLatAccLim() const +{ + return interpolateFromSpeed(param_.lat_acc_lim); +} +double VehicleCmdFilter::getLatJerkLim() const +{ + return interpolateFromSpeed(param_.lat_jerk_lim); +} +double VehicleCmdFilter::getSteerDiffLim() const +{ + return interpolateFromSpeed(param_.actual_steer_diff_lim); +} + } // namespace vehicle_cmd_gate diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp index 00acb50080cfe..eb85fcbeb8606 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp @@ -16,22 +16,28 @@ #define VEHICLE_CMD_FILTER_HPP_ #include +#include #include +#include + namespace vehicle_cmd_gate { using autoware_auto_control_msgs::msg::AckermannControlCommand; +using vehicle_cmd_gate::msg::IsFilterActivated; +using LimitArray = std::vector; struct VehicleCmdFilterParam { double wheel_base; double vel_lim; - double lon_acc_lim; - double lon_jerk_lim; - double lat_acc_lim; - double lat_jerk_lim; - double actual_steer_diff_lim; + LimitArray reference_speed_points; + LimitArray lon_acc_lim; + LimitArray lon_jerk_lim; + LimitArray lat_acc_lim; + LimitArray lat_jerk_lim; + LimitArray actual_steer_diff_lim; }; class VehicleCmdFilter { @@ -41,12 +47,13 @@ class VehicleCmdFilter void setWheelBase(double v) { param_.wheel_base = v; } void setVelLim(double v) { param_.vel_lim = v; } - void setLonAccLim(double v) { param_.lon_acc_lim = v; } - void setLonJerkLim(double v) { param_.lon_jerk_lim = v; } - void setLatAccLim(double v) { param_.lat_acc_lim = v; } - void setLatJerkLim(double v) { param_.lat_jerk_lim = v; } - void setActualSteerDiffLim(double v) { param_.actual_steer_diff_lim = v; } - void setParam(const VehicleCmdFilterParam & p) { param_ = p; } + void setLonAccLim(LimitArray v); + void setLonJerkLim(LimitArray v); + void setLatAccLim(LimitArray v); + void setLatJerkLim(LimitArray v); + void setActualSteerDiffLim(LimitArray v); + void setCurrentSpeed(double v) { current_speed_ = v; } + void setParam(const VehicleCmdFilterParam & p); void setPrevCmd(const AckermannControlCommand & v) { prev_cmd_ = v; } void limitLongitudinalWithVel(AckermannControlCommand & input) const; @@ -56,18 +63,33 @@ class VehicleCmdFilter void limitLateralWithLatJerk(const double dt, AckermannControlCommand & input) const; void limitActualSteerDiff( const double current_steer_angle, AckermannControlCommand & input) const; + void limitLateralSteer(AckermannControlCommand & input) const; void filterAll( - const double dt, const double current_steer_angle, AckermannControlCommand & input) const; + const double dt, const double current_steer_angle, AckermannControlCommand & input, + IsFilterActivated & is_activated) const; + static IsFilterActivated checkIsActivated( + const AckermannControlCommand & c1, const AckermannControlCommand & c2, + const double tol = 1.0e-3); AckermannControlCommand getPrevCmd() { return prev_cmd_; } private: VehicleCmdFilterParam param_; AckermannControlCommand prev_cmd_; + double current_speed_ = 0.0; + + bool setParameterWithValidation(const VehicleCmdFilterParam & p); double calcLatAcc(const AckermannControlCommand & cmd) const; double calcSteerFromLatacc(const double v, const double latacc) const; double limitDiff(const double curr, const double prev, const double diff_lim) const; + + double interpolateFromSpeed(const LimitArray & limits) const; + double getLonAccLim() const; + double getLonJerkLim() const; + double getLatAccLim() const; + double getLatJerkLim() const; + double getSteerDiffLim() const; }; } // namespace vehicle_cmd_gate diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index dc1d9ec1fedb8..bb87d181d3d7f 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -23,6 +23,7 @@ #include #include #include +#include namespace vehicle_cmd_gate { @@ -70,6 +71,9 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) pub_external_emergency_ = create_publisher("output/external_emergency", durable_qos); operation_mode_pub_ = create_publisher("output/operation_mode", durable_qos); + is_filter_activated_pub_ = + create_publisher("~/is_filter_activated", durable_qos); + // Subscriber external_emergency_stop_heartbeat_sub_ = create_subscription( "input/external_emergency_stop_heartbeat", 1, @@ -79,7 +83,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) engage_sub_ = create_subscription( "input/engage", 1, std::bind(&VehicleCmdGate::onEngage, this, _1)); kinematics_sub_ = create_subscription( - "input/kinematics", 1, [this](Odometry::SharedPtr msg) { current_kinematics_ = *msg; }); + "/localization/kinematic_state", 1, + [this](Odometry::SharedPtr msg) { current_kinematics_ = *msg; }); acc_sub_ = create_subscription( "input/acceleration", 1, [this](AccelWithCovarianceStamped::SharedPtr msg) { current_acceleration_ = msg->accel.accel.linear.x; @@ -157,11 +162,14 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) VehicleCmdFilterParam p; p.wheel_base = vehicle_info.wheel_base_m; p.vel_lim = declare_parameter("nominal.vel_lim"); - p.lon_acc_lim = declare_parameter("nominal.lon_acc_lim"); - p.lon_jerk_lim = declare_parameter("nominal.lon_jerk_lim"); - p.lat_acc_lim = declare_parameter("nominal.lat_acc_lim"); - p.lat_jerk_lim = declare_parameter("nominal.lat_jerk_lim"); - p.actual_steer_diff_lim = declare_parameter("nominal.actual_steer_diff_lim"); + p.reference_speed_points = + declare_parameter>("nominal.reference_speed_points"); + p.lon_acc_lim = declare_parameter>("nominal.lon_acc_lim"); + p.lon_jerk_lim = declare_parameter>("nominal.lon_jerk_lim"); + p.lat_acc_lim = declare_parameter>("nominal.lat_acc_lim"); + p.lat_jerk_lim = declare_parameter>("nominal.lat_jerk_lim"); + p.actual_steer_diff_lim = + declare_parameter>("nominal.actual_steer_diff_lim"); filter_.setParam(p); } @@ -169,11 +177,14 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) VehicleCmdFilterParam p; p.wheel_base = vehicle_info.wheel_base_m; p.vel_lim = declare_parameter("on_transition.vel_lim"); - p.lon_acc_lim = declare_parameter("on_transition.lon_acc_lim"); - p.lon_jerk_lim = declare_parameter("on_transition.lon_jerk_lim"); - p.lat_acc_lim = declare_parameter("on_transition.lat_acc_lim"); - p.lat_jerk_lim = declare_parameter("on_transition.lat_jerk_lim"); - p.actual_steer_diff_lim = declare_parameter("on_transition.actual_steer_diff_lim"); + p.reference_speed_points = + declare_parameter>("on_transition.reference_speed_points"); + p.lon_acc_lim = declare_parameter>("on_transition.lon_acc_lim"); + p.lon_jerk_lim = declare_parameter>("on_transition.lon_jerk_lim"); + p.lat_acc_lim = declare_parameter>("on_transition.lat_acc_lim"); + p.lat_jerk_lim = declare_parameter>("on_transition.lat_jerk_lim"); + p.actual_steer_diff_lim = + declare_parameter>("on_transition.actual_steer_diff_lim"); filter_on_transition_.setParam(p); } @@ -500,9 +511,14 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont const auto ego_is_stopped = vehicle_stop_checker_->isVehicleStopped(stop_check_duration_); const auto input_cmd_is_stopping = in.longitudinal.acceleration < 0.0; + filter_.setCurrentSpeed(current_kinematics_.twist.twist.linear.x); + filter_on_transition_.setCurrentSpeed(current_kinematics_.twist.twist.linear.x); + + IsFilterActivated is_filter_activated; + // Apply transition_filter when transiting from MANUAL to AUTO. if (mode.is_in_transition) { - filter_on_transition_.filterAll(dt, current_steer_, out); + filter_on_transition_.filterAll(dt, current_steer_, out, is_filter_activated); } else { // When ego is stopped and the input command is not stopping, // use the higher of actual vehicle longitudinal state @@ -521,7 +537,7 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont : current_status_cmd.longitudinal.speed; filter_.setPrevCmd(prev_cmd); } - filter_.filterAll(dt, current_steer_, out); + filter_.filterAll(dt, current_steer_, out, is_filter_activated); } // set prev value for both to keep consistency over switching: @@ -544,6 +560,9 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont filter_.setPrevCmd(prev_values); filter_on_transition_.setPrevCmd(prev_values); + is_filter_activated.stamp = now(); + is_filter_activated_pub_->publish(is_filter_activated); + return out; } diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 17bfe99d45251..3414eafe20ecb 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include @@ -64,6 +65,7 @@ using tier4_external_api_msgs::msg::Heartbeat; using tier4_external_api_msgs::srv::SetEmergency; using tier4_system_msgs::msg::MrmBehaviorStatus; using tier4_vehicle_msgs::msg::VehicleEmergencyStamped; +using vehicle_cmd_gate::msg::IsFilterActivated; using diagnostic_msgs::msg::DiagnosticStatus; using nav_msgs::msg::Odometry; @@ -99,6 +101,7 @@ class VehicleCmdGate : public rclcpp::Node rclcpp::Publisher::SharedPtr gate_mode_pub_; rclcpp::Publisher::SharedPtr engage_pub_; rclcpp::Publisher::SharedPtr operation_mode_pub_; + rclcpp::Publisher::SharedPtr is_filter_activated_pub_; // Subscription rclcpp::Subscription::SharedPtr external_emergency_stop_heartbeat_sub_; diff --git a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp new file mode 100644 index 0000000000000..6384fbfb22f60 --- /dev/null +++ b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp @@ -0,0 +1,400 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../../src/vehicle_cmd_gate.hpp" +#include "ament_index_cpp/get_package_share_directory.hpp" + +#include + +#include +#include +#include +#include +#include + +#define ASSERT_LT_NEAR(x, y, alpha) ASSERT_LT(x, y * alpha) +#define ASSERT_GT_NEAR(x, y, alpha) ASSERT_GT(x, y * alpha) + +#define PRINT_VALUES(...) print_values(0, #__VA_ARGS__, __VA_ARGS__) +template +void print_values([[maybe_unused]] int i, [[maybe_unused]] T name) +{ + std::cerr << std::endl; +} +template +void print_values(int i, const T1 & name, const T2 & a, const T3 &... b) +{ + for (; name[i] != ',' && name[i] != '\0'; i++) std::cerr << name[i]; + + std::ostringstream oss; + oss << std::setprecision(4) << std::setw(9) << a; + std::cerr << ":" << oss.str() << " "; + print_values(i + 1, name, b...); +} + +// global params +const std::vector reference_speed_points = {5., 10., 15., 20.}; +const std::vector lon_acc_lim = {1.5, 1.0, 0.8, 0.6}; +const std::vector lon_jerk_lim = {1.4, 0.9, 0.7, 0.5}; +const std::vector lat_acc_lim = {2.0, 1.6, 1.2, 0.8}; +const std::vector lat_jerk_lim = {1.7, 1.3, 0.9, 0.6}; +const std::vector actual_steer_diff_lim = {0.5, 0.4, 0.2, 0.1}; +const double wheelbase = 2.89; + +using vehicle_cmd_gate::VehicleCmdGate; + +using autoware_adapi_v1_msgs::msg::MrmState; +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_vehicle_msgs::msg::GearCommand; +using autoware_auto_vehicle_msgs::msg::HazardLightsCommand; +using autoware_auto_vehicle_msgs::msg::SteeringReport; +using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand; +using geometry_msgs::msg::AccelWithCovarianceStamped; +using nav_msgs::msg::Odometry; +using tier4_control_msgs::msg::GateMode; +using tier4_external_api_msgs::msg::Emergency; +using tier4_external_api_msgs::msg::Heartbeat; +using EngageMsg = autoware_auto_vehicle_msgs::msg::Engage; + +class PubSubNode : public rclcpp::Node +{ +public: + PubSubNode() : Node{"test_vehicle_cmd_gate_filter_pubsub"} + { + sub_cmd_ = create_subscription( + "output/control_cmd", rclcpp::QoS{1}, + [this](const AckermannControlCommand::ConstSharedPtr msg) { + cmd_history_.push_back(msg); + cmd_received_times_.push_back(now()); + checkFilter(); + }); + + rclcpp::QoS qos{1}; + qos.transient_local(); + + pub_external_emergency_stop_heartbeat_ = + create_publisher("input/external_emergency_stop_heartbeat", qos); + pub_engage_ = create_publisher("input/engage", qos); + pub_gate_mode_ = create_publisher("input/gate_mode", qos); + pub_odom_ = create_publisher("/localization/kinematic_state", qos); + pub_acc_ = create_publisher("input/acceleration", qos); + pub_steer_ = create_publisher("input/steering", qos); + pub_operation_mode_ = create_publisher("input/operation_mode", qos); + pub_mrm_state_ = create_publisher("input/mrm_state", qos); + + pub_auto_control_cmd_ = + create_publisher("input/auto/control_cmd", qos); + pub_auto_turn_indicator_cmd_ = + create_publisher("input/auto/turn_indicators_cmd", qos); + pub_auto_hazard_light_cmd_ = + create_publisher("input/auto/hazard_lights_cmd", qos); + pub_auto_gear_cmd_ = create_publisher("input/auto/gear_cmd", qos); + } + + rclcpp::Subscription::SharedPtr sub_cmd_; + + rclcpp::Publisher::SharedPtr pub_external_emergency_stop_heartbeat_; + rclcpp::Publisher::SharedPtr pub_engage_; + rclcpp::Publisher::SharedPtr pub_gate_mode_; + rclcpp::Publisher::SharedPtr pub_odom_; + rclcpp::Publisher::SharedPtr pub_acc_; + rclcpp::Publisher::SharedPtr pub_steer_; + rclcpp::Publisher::SharedPtr pub_operation_mode_; + rclcpp::Publisher::SharedPtr pub_mrm_state_; + rclcpp::Publisher::SharedPtr pub_auto_control_cmd_; + rclcpp::Publisher::SharedPtr pub_auto_turn_indicator_cmd_; + rclcpp::Publisher::SharedPtr pub_auto_hazard_light_cmd_; + rclcpp::Publisher::SharedPtr pub_auto_gear_cmd_; + + std::vector cmd_history_; + std::vector raw_cmd_history_; + std::vector cmd_received_times_; + + // publish except for the control_cmd + void publishDefaultTopicsNoSpin() + { + { + Heartbeat msg; + msg.stamp = now(); + pub_external_emergency_stop_heartbeat_->publish(msg); + } + { + EngageMsg msg; + msg.stamp = now(); + msg.engage = true; + pub_engage_->publish(msg); + } + { + GateMode msg; + msg.data = GateMode::AUTO; + pub_gate_mode_->publish(msg); + } + { + Odometry msg; // initialized for zero pose and twist + msg.header.frame_id = "baselink"; + msg.header.stamp = now(); + msg.pose.pose.orientation.w = 1.0; + msg.twist.twist.linear.x = 0.0; + if (!cmd_history_.empty()) { // ego moves as commanded. + msg.twist.twist.linear.x = + cmd_history_.back()->longitudinal.speed; // ego moves as commanded. + } else { + } + pub_odom_->publish(msg); + } + { + AccelWithCovarianceStamped msg; + msg.header.frame_id = "baselink"; + msg.header.stamp = now(); + msg.accel.accel.linear.x = 0.0; + if (!cmd_history_.empty()) { // ego moves as commanded. + msg.accel.accel.linear.x = cmd_history_.back()->longitudinal.acceleration; + } + pub_acc_->publish(msg); + } + { + SteeringReport msg; + msg.stamp = now(); + msg.steering_tire_angle = 0.0; + if (!cmd_history_.empty()) { // ego moves as commanded. + msg.steering_tire_angle = cmd_history_.back()->lateral.steering_tire_angle; + } + pub_steer_->publish(msg); + } + { + OperationModeState msg; + msg.stamp = now(); + msg.mode = OperationModeState::AUTONOMOUS; + msg.is_autoware_control_enabled = true; + pub_operation_mode_->publish(msg); + } + { + MrmState msg; + msg.stamp = now(); + msg.state = MrmState::NORMAL; + msg.behavior = MrmState::NONE; + pub_mrm_state_->publish(msg); + } + { + TurnIndicatorsCommand msg; + msg.stamp = now(); + msg.command = TurnIndicatorsCommand::DISABLE; + pub_auto_turn_indicator_cmd_->publish(msg); + } + { + HazardLightsCommand msg; + msg.stamp = now(); + msg.command = HazardLightsCommand::DISABLE; + pub_auto_hazard_light_cmd_->publish(msg); + } + { + GearCommand msg; + msg.stamp = now(); + msg.command = GearCommand::DRIVE; + pub_auto_gear_cmd_->publish(msg); + } + } + + void publishControlCommand(AckermannControlCommand msg) + { + msg.stamp = now(); + pub_auto_control_cmd_->publish(msg); + raw_cmd_history_.push_back(std::make_shared(msg)); + } + + void checkFilter() + { + if (cmd_history_.size() != cmd_received_times_.size()) { + throw std::logic_error("cmd history and received times must have same size. Check code."); + } + + if (cmd_history_.size() == 1) return; + + const size_t i_curr = cmd_history_.size() - 1; + const size_t i_prev = cmd_history_.size() - 2; + const auto cmd_curr = cmd_history_.at(i_curr); + const auto cmd_prev = cmd_history_.at(i_prev); + + const auto max_lon_acc_lim = *std::max_element(lon_acc_lim.begin(), lon_acc_lim.end()); + const auto max_lon_jerk_lim = *std::max_element(lon_jerk_lim.begin(), lon_jerk_lim.end()); + const auto max_lat_acc_lim = *std::max_element(lat_acc_lim.begin(), lat_acc_lim.end()); + const auto max_lat_jerk_lim = *std::max_element(lat_jerk_lim.begin(), lat_jerk_lim.end()); + + const auto dt = (cmd_received_times_.at(i_curr) - cmd_received_times_.at(i_prev)).seconds(); + const auto lon_vel = cmd_curr->longitudinal.speed; + const auto lon_acc = cmd_curr->longitudinal.acceleration; + const auto lon_jerk = (lon_acc - cmd_prev->longitudinal.acceleration) / dt; + const auto lat_acc = + lon_vel * lon_vel * std::tan(cmd_curr->lateral.steering_tire_angle) / wheelbase; + const auto prev_lon_vel = cmd_prev->longitudinal.speed; + const auto prev_lat_acc = + prev_lon_vel * prev_lon_vel * std::tan(cmd_prev->lateral.steering_tire_angle) / wheelbase; + const auto lat_jerk = (lat_acc - prev_lat_acc) / dt; + + /* debug print */ + // const auto steer = cmd_curr->lateral.steering_tire_angle; + // PRINT_VALUES( + // dt, lon_vel, lon_acc, lon_jerk, lat_acc, lat_jerk, steer, max_lon_acc_lim, + // max_lon_jerk_lim, max_lat_acc_lim, max_lat_jerk_lim); + + // Output command must be smaller than maximum limit. + // TODO(Horibe): check for each velocity range. + constexpr auto threshold_scale = 1.1; + if (std::abs(lon_vel) > 0.01) { + ASSERT_LT_NEAR(std::abs(lon_acc), max_lon_acc_lim, threshold_scale); + ASSERT_LT_NEAR(std::abs(lon_jerk), max_lon_jerk_lim, threshold_scale); + ASSERT_LT_NEAR(std::abs(lat_acc), max_lat_acc_lim, threshold_scale); + ASSERT_LT_NEAR(std::abs(lat_jerk), max_lat_jerk_lim, threshold_scale); + } + } +}; + +struct CmdParam +{ + double max; + double freq; + double bias; + CmdParam() {} + CmdParam(double m, double f, double b) : max(m), freq(f), bias(b) {} +}; + +struct CmdParams +{ + CmdParam steering; + CmdParam velocity; + CmdParam acceleration; + CmdParams() {} + CmdParams(CmdParam s, CmdParam v, CmdParam a) : steering(s), velocity(v), acceleration(a) {} +}; + +class ControlCmdGenerator +{ +public: + CmdParams p_; // used for sin wave command generation + + using Clock = std::chrono::high_resolution_clock; + std::chrono::time_point start_time_{Clock::now()}; + + // generate ControlCommand with sin wave format. + // TODO(Horibe): implement steering_rate and jerk command. + AckermannControlCommand calcSinWaveCommand(bool reset_clock = false) + { + if (reset_clock) { + start_time_ = Clock::now(); + } + + const auto dt_ns = + std::chrono::duration_cast(Clock::now() - start_time_); + const auto dt_s = dt_ns.count() / 1e9; + + const auto sinWave = [&](auto amp, auto freq, auto bias) { + return amp * std::sin(2.0 * M_PI * freq * dt_s + bias); + }; + + AckermannControlCommand cmd; + cmd.lateral.steering_tire_angle = sinWave(p_.steering.max, p_.steering.freq, p_.steering.bias); + cmd.longitudinal.speed = + sinWave(p_.velocity.max, p_.velocity.freq, p_.velocity.bias) + p_.velocity.max; + cmd.longitudinal.acceleration = + sinWave(p_.acceleration.max, p_.acceleration.freq, p_.acceleration.bias); + + return cmd; + } +}; + +std::shared_ptr generateNode() +{ + auto node_options = rclcpp::NodeOptions{}; + + const auto vehicle_cmd_gate_dir = + ament_index_cpp::get_package_share_directory("vehicle_cmd_gate"); + const auto vehicle_info_util_dir = + ament_index_cpp::get_package_share_directory("vehicle_info_util"); + + node_options.arguments( + {"--ros-args", "--params-file", vehicle_cmd_gate_dir + "/config/vehicle_cmd_gate.param.yaml", + "--ros-args", "--params-file", vehicle_info_util_dir + "/config/vehicle_info.param.yaml"}); + + const auto override = [&](const auto s, const std::vector v) { + node_options.append_parameter_override>(s, v); + }; + + node_options.append_parameter_override("wheel_base", wheelbase); + override("nominal.reference_speed_points", reference_speed_points); + override("nominal.reference_speed_points", reference_speed_points); + override("nominal.lon_acc_lim", lon_acc_lim); + override("nominal.lon_jerk_lim", lon_jerk_lim); + override("nominal.lat_acc_lim", lat_acc_lim); + override("nominal.lat_jerk_lim", lat_jerk_lim); + override("nominal.actual_steer_diff_lim", actual_steer_diff_lim); + + return std::make_shared(node_options); +} + +class TestFixture : public ::testing::TestWithParam +{ +protected: + void SetUp() override + { + vehicle_cmd_gate_node_ = generateNode(); + cmd_generator_.p_ = GetParam(); + } + + void TearDown() override + { + // rclcpp::shutdown(); + } + + PubSubNode pub_sub_node_; + std::shared_ptr vehicle_cmd_gate_node_; + ControlCmdGenerator cmd_generator_; +}; + +TEST_P(TestFixture, CheckFilterForSinCmd) +{ + [[maybe_unused]] auto a = std::system("ros2 node list"); + [[maybe_unused]] auto b = std::system("ros2 node info /test_vehicle_cmd_gate_filter_pubsub"); + [[maybe_unused]] auto c = std::system("ros2 node info /vehicle_cmd_gate"); + + for (size_t i = 0; i < 100; ++i) { + const bool reset_clock = (i == 0); + const auto cmd = cmd_generator_.calcSinWaveCommand(reset_clock); + pub_sub_node_.publishControlCommand(cmd); + pub_sub_node_.publishDefaultTopicsNoSpin(); + for (int i = 0; i < 20; ++i) { + rclcpp::spin_some(pub_sub_node_.get_node_base_interface()); + rclcpp::spin_some(vehicle_cmd_gate_node_->get_node_base_interface()); + } + std::this_thread::sleep_for(std::chrono::milliseconds{10LL}); + } + + std::cerr << "received cmd num = " << pub_sub_node_.cmd_received_times_.size() << std::endl; +}; + +// High frequency, large value +CmdParams p1 = {/*steer*/ {10, 1, 0}, /*velocity*/ {10, 1.2, 0}, /*acc*/ {5, 1.5, 2}}; +INSTANTIATE_TEST_SUITE_P(TestParam1, TestFixture, ::testing::Values(p1)); + +// High frequency, normal value +CmdParams p2 = {/*steer*/ {1.5, 2, 1}, /*velocity*/ {5, 1.0, 0}, /*acc*/ {2.0, 3.0, 2}}; +INSTANTIATE_TEST_SUITE_P(TestParam2, TestFixture, ::testing::Values(p2)); + +// High frequency, small value +CmdParams p3 = {/*steer*/ {1.5, 3, 2}, /*velocity*/ {2, 3, 0}, /*acc*/ {0.5, 3, 2}}; +INSTANTIATE_TEST_SUITE_P(TestParam3, TestFixture, ::testing::Values(p3)); + +// Low frequency +CmdParams p4 = {/*steer*/ {10, 0.1, 0.5}, /*velocity*/ {10, 0.2, 0}, /*acc*/ {5, 0.1, 2}}; +INSTANTIATE_TEST_SUITE_P(TestParam4, TestFixture, ::testing::Values(p4)); diff --git a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp index 5fbfec237b047..7ce8580120652 100644 --- a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp @@ -25,19 +25,25 @@ #define ASSERT_GT_NEAR(x, y) ASSERT_GT(x, y - THRESHOLD) using autoware_auto_control_msgs::msg::AckermannControlCommand; +using vehicle_cmd_gate::LimitArray; constexpr double NOMINAL_INTERVAL = 1.0; void setFilterParams( - vehicle_cmd_gate::VehicleCmdFilter & f, double v, double a, double j, double lat_a, double lat_j, - double wheelbase) + vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a, + LimitArray j, LimitArray lat_a, LimitArray lat_j, LimitArray steer_diff, const double wheelbase) { - f.setVelLim(v); - f.setLonAccLim(a); - f.setLonJerkLim(j); - f.setLatAccLim(lat_a); - f.setLatJerkLim(lat_j); - f.setWheelBase(wheelbase); + vehicle_cmd_gate::VehicleCmdFilterParam p; + p.vel_lim = v; + p.wheel_base = wheelbase; + p.reference_speed_points = speed_points; + p.lat_acc_lim = lat_a; + p.lat_jerk_lim = lat_j; + p.lon_acc_lim = a; + p.lon_jerk_lim = j; + p.actual_steer_diff_lim = steer_diff; + + f.setParam(p); } AckermannControlCommand genCmd(double s, double sr, double v, double a) @@ -56,15 +62,29 @@ double calcLatAcc(const AckermannControlCommand & cmd, const double wheelbase) return v * v * std::tan(cmd.lateral.steering_tire_angle) / wheelbase; } -void test_all( - double V_LIM, double A_LIM, double J_LIM, double LAT_A_LIM, double LAT_J_LIM, +double calcLatJerk( + const AckermannControlCommand & cmd, const AckermannControlCommand & prev_cmd, + const double wheelbase, const double dt) +{ + const auto prev_v = prev_cmd.longitudinal.speed; + const auto prev = prev_v * prev_v * std::tan(prev_cmd.lateral.steering_tire_angle) / wheelbase; + + const auto curr_v = cmd.longitudinal.speed; + const auto curr = curr_v * curr_v * std::tan(cmd.lateral.steering_tire_angle) / wheelbase; + + return (curr - prev) / dt; +} + +void test_1d_limit( + double V_LIM, double A_LIM, double J_LIM, double LAT_A_LIM, double LAT_J_LIM, double STEER_DIFF, const AckermannControlCommand & prev_cmd, const AckermannControlCommand & raw_cmd) { const double WHEELBASE = 3.0; const double DT = 0.1; // [s] vehicle_cmd_gate::VehicleCmdFilter filter; - setFilterParams(filter, V_LIM, A_LIM, J_LIM, LAT_A_LIM, LAT_J_LIM, WHEELBASE); + setFilterParams( + filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, WHEELBASE); filter.setPrevCmd(prev_cmd); // velocity filter @@ -164,6 +184,23 @@ void test_all( filtered_cmd.lateral.steering_tire_angle, raw_cmd.lateral.steering_tire_angle, THRESHOLD); } } + + // steer diff + { + const auto current_steering = 0.1; + auto filtered_cmd = raw_cmd; + filter.limitActualSteerDiff(current_steering, filtered_cmd); + const auto filtered_steer_diff = filtered_cmd.lateral.steering_tire_angle - current_steering; + const auto raw_steer_diff = raw_cmd.lateral.steering_tire_angle - current_steering; + // check if the filtered value does not exceed the limit. + ASSERT_LT_NEAR(std::abs(filtered_steer_diff), STEER_DIFF); + + // check if the undesired filter is not applied. + if (std::abs(raw_steer_diff) < STEER_DIFF) { + ASSERT_NEAR( + filtered_cmd.lateral.steering_tire_angle, raw_cmd.lateral.steering_tire_angle, THRESHOLD); + } + } } TEST(VehicleCmdFilter, VehicleCmdFilter) @@ -173,6 +210,7 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) const std::vector j_arr = {0.0, 0.1, 1.0}; const std::vector lat_a_arr = {0.01, 1.0, 100.0}; const std::vector lat_j_arr = {0.01, 1.0, 100.0}; + const std::vector steer_diff_arr = {0.01, 1.0, 100.0}; const std::vector prev_cmd_arr = { genCmd(0.0, 0.0, 0.0, 0.0), genCmd(1.0, 1.0, 1.0, 1.0)}; @@ -187,7 +225,9 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) for (const auto & lj : lat_j_arr) { for (const auto & prev_cmd : prev_cmd_arr) { for (const auto & raw_cmd : raw_cmd_arr) { - test_all(v, a, j, la, lj, prev_cmd, raw_cmd); + for (const auto & steer_diff : steer_diff_arr) { + test_1d_limit(v, a, j, la, lj, steer_diff, prev_cmd, raw_cmd); + } } } } @@ -196,3 +236,228 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) } } } + +TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate) +{ + constexpr double WHEELBASE = 2.8; + vehicle_cmd_gate::VehicleCmdFilter filter; + + vehicle_cmd_gate::VehicleCmdFilterParam p; + p.wheel_base = WHEELBASE; + p.vel_lim = 20.0; + p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + p.lon_acc_lim = std::vector{0.3, 0.4, 0.5}; + p.lon_jerk_lim = std::vector{0.4, 0.4, 0.7}; + p.lat_acc_lim = std::vector{0.1, 0.2, 0.3}; + p.lat_jerk_lim = std::vector{0.9, 0.7, 0.1}; + p.actual_steer_diff_lim = std::vector{0.1, 0.3, 0.2}; + filter.setParam(p); + + const auto DT = 0.033; + + const auto orig_cmd = []() { + AckermannControlCommand cmd; + cmd.lateral.steering_tire_angle = 0.5; + cmd.lateral.steering_tire_rotation_rate = 0.5; + cmd.longitudinal.speed = 30.0; + cmd.longitudinal.acceleration = 10.0; + cmd.longitudinal.jerk = 10.0; + return cmd; + }(); + + const auto set_speed_and_reset_prev = [&](const auto & current_vel) { + filter.setCurrentSpeed(current_vel); + }; + + const auto _limitLongitudinalWithVel = [&](const auto & in) { + auto out = in; + filter.limitLongitudinalWithVel(out); + return out; + }; + const auto _limitLongitudinalWithAcc = [&](const auto & in) { + auto out = in; + filter.limitLongitudinalWithAcc(DT, out); + return out; + }; + const auto _limitLongitudinalWithJerk = [&](const auto & in) { + auto out = in; + filter.limitLongitudinalWithJerk(DT, out); + return out; + }; + const auto _limitLateralWithLatAcc = [&](const auto & in) { + auto out = in; + filter.limitLateralWithLatAcc(DT, out); + return out; + }; + const auto _limitLateralWithLatJerk = [&](const auto & in) { + auto out = in; + filter.limitLateralWithLatJerk(DT, out); + return out; + }; + const auto _limitActualSteerDiff = [&](const auto & in) { + auto out = in; + const auto prev_steering = 0.0; + filter.limitActualSteerDiff(prev_steering, out); + return out; + }; + + constexpr double ep = 1.0e-5; + + // vel lim + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR(_limitLongitudinalWithVel(orig_cmd).longitudinal.speed, 20.0, ep); + } + + // longitudinal acc lim + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.3, ep); + + set_speed_and_reset_prev(2.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.3, ep); + + set_speed_and_reset_prev(3.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.35, ep); + + set_speed_and_reset_prev(5.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.4 + 0.1 / 6.0, ep); + + set_speed_and_reset_prev(8.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.4 + 0.4 / 6.0, ep); + + set_speed_and_reset_prev(10.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.5, ep); + + set_speed_and_reset_prev(15.0); + EXPECT_NEAR(_limitLongitudinalWithAcc(orig_cmd).longitudinal.acceleration, 0.5, ep); + } + + // longitudinal jerk lim + // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + // p.lon_jerk_lim = std::vector{0.4, 0.4, 0.7}; + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, 0.4, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * 0.4, ep); + + set_speed_and_reset_prev(2.0); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, 0.4, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * 0.4, ep); + + set_speed_and_reset_prev(3.0); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, 0.4, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * 0.4, ep); + + set_speed_and_reset_prev(5.0); + const auto expect_v5 = 0.4 + 0.3 / 6.0; + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, expect_v5, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * expect_v5, ep); + + set_speed_and_reset_prev(8.0); + const auto expect_v8 = 0.4 + 1.2 / 6.0; + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, expect_v8, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * expect_v8, ep); + + set_speed_and_reset_prev(10.0); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, 0.7, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * 0.7, ep); + + set_speed_and_reset_prev(15.0); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.jerk, 0.7, ep); + EXPECT_NEAR(_limitLongitudinalWithJerk(orig_cmd).longitudinal.acceleration, DT * 0.7, ep); + } + + // lateral acc lim + // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + // p.lat_acc_lim = std::vector{0.1, 0.2, 0.3}; + const auto _calcLatAcc = [&](const auto & cmd) { return calcLatAcc(cmd, WHEELBASE); }; + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.1, ep); + + set_speed_and_reset_prev(2.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.1, ep); + + set_speed_and_reset_prev(3.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.15, ep); + + set_speed_and_reset_prev(5.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.2 + 0.1 / 6.0, ep); + + set_speed_and_reset_prev(8.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.2 + 0.4 / 6.0, ep); + + set_speed_and_reset_prev(10.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.3, ep); + + set_speed_and_reset_prev(15.0); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.3, ep); + } + + // lateral jerk lim + // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + // p.lat_jerk_lim = std::vector{0.9, 0.7, 0.1}; + const auto _calcLatJerk = [&](const auto & cmd) { + return calcLatJerk(cmd, AckermannControlCommand{}, WHEELBASE, DT); + }; + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.9, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.9, ep); + + set_speed_and_reset_prev(2.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.9, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.9, ep); + + set_speed_and_reset_prev(3.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.8, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.8, ep); + + set_speed_and_reset_prev(5.0); + const auto expect_v5 = 0.7 - 0.6 * (1.0 / 6.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), expect_v5, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * expect_v5, ep); + + set_speed_and_reset_prev(8.0); + const auto expect_v8 = 0.7 - 0.6 * (4.0 / 6.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), expect_v8, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * expect_v8, ep); + + set_speed_and_reset_prev(10.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.1, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.1, ep); + + set_speed_and_reset_prev(15.0); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.1, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.1, ep); + } + + // steering diff lim + // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + // p.actual_steer_diff_lim = std::vector{0.1, 0.3, 0.2}; + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), 0.1, ep); + + set_speed_and_reset_prev(2.0); + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), 0.1, ep); + + set_speed_and_reset_prev(3.0); + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), 0.2, ep); + + set_speed_and_reset_prev(5.0); + const auto expect_v5 = 0.3 - 0.1 / 6.0; + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), expect_v5, ep); + + set_speed_and_reset_prev(8.0); + const auto expect_v8 = 0.3 - 0.4 / 6.0; + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), expect_v8, ep); + + set_speed_and_reset_prev(10.0); + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), 0.2, ep); + + set_speed_and_reset_prev(15.0); + EXPECT_NEAR((_limitActualSteerDiff(orig_cmd).lateral.steering_tire_angle), 0.2, ep); + } +} From c00cdcebd1dcd4221d3a2e1e94515ffebcb1e1d8 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 29 Aug 2023 17:32:01 +0900 Subject: [PATCH 2/4] feat: add marker of cmd gate filter (#4741) * feat: add marker of cmd gate filter Signed-off-by: tomoya.kimura * feat: add sphere marker Signed-off-by: tomoya.kimura * misc Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- control/vehicle_cmd_gate/package.xml | 1 + .../vehicle_cmd_gate/src/marker_helper.hpp | 119 ++++++++++++++++++ .../vehicle_cmd_gate/src/vehicle_cmd_gate.cpp | 52 ++++++++ .../vehicle_cmd_gate/src/vehicle_cmd_gate.hpp | 6 + 4 files changed, 178 insertions(+) create mode 100644 control/vehicle_cmd_gate/src/marker_helper.hpp diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index 36bb662fb2f53..deb988d61738f 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -34,6 +34,7 @@ tier4_system_msgs tier4_vehicle_msgs vehicle_info_util + visualization_msgs rosidl_default_runtime diff --git a/control/vehicle_cmd_gate/src/marker_helper.hpp b/control/vehicle_cmd_gate/src/marker_helper.hpp new file mode 100644 index 0000000000000..44c43a3630151 --- /dev/null +++ b/control/vehicle_cmd_gate/src/marker_helper.hpp @@ -0,0 +1,119 @@ +// Copyright 2020 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MARKER_HELPER_HPP_ +#define MARKER_HELPER_HPP_ + +#include + +#include + +#include + +namespace vehicle_cmd_gate +{ +inline geometry_msgs::msg::Point createMarkerPosition(double x, double y, double z) +{ + geometry_msgs::msg::Point point; + + point.x = x; + point.y = y; + point.z = z; + + return point; +} + +inline geometry_msgs::msg::Quaternion createMarkerOrientation( + double x, double y, double z, double w) +{ + geometry_msgs::msg::Quaternion quaternion; + + quaternion.x = x; + quaternion.y = y; + quaternion.z = z; + quaternion.w = w; + + return quaternion; +} + +inline geometry_msgs::msg::Vector3 createMarkerScale(double x, double y, double z) +{ + geometry_msgs::msg::Vector3 scale; + + scale.x = x; + scale.y = y; + scale.z = z; + + return scale; +} + +inline std_msgs::msg::ColorRGBA createMarkerColor(float r, float g, float b, float a) +{ + std_msgs::msg::ColorRGBA color; + + color.r = r; + color.g = g; + color.b = b; + color.a = a; + + return color; +} + +inline visualization_msgs::msg::Marker createMarker( + const std::string & frame_id, const std::string & ns, const int32_t id, const int32_t type, + geometry_msgs::msg::Point point, geometry_msgs::msg::Vector3 scale, + const std_msgs::msg::ColorRGBA & color) +{ + visualization_msgs::msg::Marker marker; + + marker.header.frame_id = frame_id; + marker.header.stamp = rclcpp::Time(0); + marker.ns = ns; + marker.id = id; + marker.type = type; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.lifetime = rclcpp::Duration::from_seconds(0.2); + marker.pose.position = point; + marker.pose.orientation = createMarkerOrientation(0.0, 0.0, 0.0, 1.0); + marker.scale = scale; + marker.color = color; + marker.frame_locked = false; + + return marker; +} + +inline visualization_msgs::msg::Marker createStringMarker( + const std::string & frame_id, const std::string & ns, const int32_t id, const int32_t type, + geometry_msgs::msg::Point point, geometry_msgs::msg::Vector3 scale, + const std_msgs::msg::ColorRGBA & color, const std::string text) +{ + visualization_msgs::msg::Marker marker; + + marker = createMarker(frame_id, ns, id, type, point, scale, color); + marker.text = text; + + return marker; +} + +inline void appendMarkerArray( + const visualization_msgs::msg::MarkerArray & additional_marker_array, + visualization_msgs::msg::MarkerArray * marker_array) +{ + for (const auto & marker : additional_marker_array.markers) { + marker_array->markers.push_back(marker); + } +} +} // namespace vehicle_cmd_gate + +#endif // MARKER_HELPER_HPP_ diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index bb87d181d3d7f..664ea5e444fe7 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -14,6 +14,8 @@ #include "vehicle_cmd_gate.hpp" +#include "marker_helper.hpp" + #include #include @@ -73,6 +75,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) is_filter_activated_pub_ = create_publisher("~/is_filter_activated", durable_qos); + filter_activated_marker_pub_ = + create_publisher("~/is_filter_activated/marker", durable_qos); // Subscriber external_emergency_stop_heartbeat_sub_ = create_subscription( @@ -562,6 +566,7 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont is_filter_activated.stamp = now(); is_filter_activated_pub_->publish(is_filter_activated); + filter_activated_marker_pub_->publish(createMarkerArray(is_filter_activated)); return out; } @@ -729,6 +734,53 @@ void VehicleCmdGate::checkExternalEmergencyStop(diagnostic_updater::DiagnosticSt stat.summary(status.level, status.message); } +MarkerArray VehicleCmdGate::createMarkerArray(const IsFilterActivated & filter_activated) +{ + MarkerArray msg; + + if (!filter_activated.is_activated) { + return msg; + } + + /* add string marker */ + bool first_msg = true; + std::string reason = "filter activated on"; + + if (filter_activated.is_activated_on_acceleration) { + reason += " lon_acc"; + first_msg = false; + } + if (filter_activated.is_activated_on_jerk) { + reason += first_msg ? " jerk" : ", jerk"; + first_msg = false; + } + if (filter_activated.is_activated_on_speed) { + reason += first_msg ? " speed" : ", speed"; + first_msg = false; + } + if (filter_activated.is_activated_on_steering) { + reason += first_msg ? " steer" : ", steer"; + first_msg = false; + } + if (filter_activated.is_activated_on_steering_rate) { + reason += first_msg ? " steer_rate" : ", steer_rate"; + first_msg = false; + } + + msg.markers.emplace_back(createStringMarker( + "base_link", "msg", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, + createMarkerPosition(0.0, 0.0, 1.0), createMarkerScale(0.0, 0.0, 1.0), + createMarkerColor(1.0, 0.0, 0.0, 1.0), reason)); + + /* add sphere marker */ + msg.markers.emplace_back(createMarker( + "base_link", "sphere", 0, visualization_msgs::msg::Marker::SPHERE, + createMarkerPosition(0.0, 0.0, 0.0), createMarkerScale(3.0, 3.0, 3.0), + createMarkerColor(1.0, 0.0, 0.0, 0.3))); + + return msg; +} + } // namespace vehicle_cmd_gate #include diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 3414eafe20ecb..c82a3f154a112 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -44,6 +44,7 @@ #include #include #include +#include #include @@ -66,6 +67,7 @@ using tier4_external_api_msgs::srv::SetEmergency; using tier4_system_msgs::msg::MrmBehaviorStatus; using tier4_vehicle_msgs::msg::VehicleEmergencyStamped; using vehicle_cmd_gate::msg::IsFilterActivated; +using visualization_msgs::msg::MarkerArray; using diagnostic_msgs::msg::DiagnosticStatus; using nav_msgs::msg::Odometry; @@ -102,6 +104,7 @@ class VehicleCmdGate : public rclcpp::Node rclcpp::Publisher::SharedPtr engage_pub_; rclcpp::Publisher::SharedPtr operation_mode_pub_; rclcpp::Publisher::SharedPtr is_filter_activated_pub_; + rclcpp::Publisher::SharedPtr filter_activated_marker_pub_; // Subscription rclcpp::Subscription::SharedPtr external_emergency_stop_heartbeat_sub_; @@ -228,6 +231,9 @@ class VehicleCmdGate : public rclcpp::Node // stop checker std::unique_ptr vehicle_stop_checker_; double stop_check_duration_; + + // debug + MarkerArray createMarkerArray(const IsFilterActivated & filter_activated); }; } // namespace vehicle_cmd_gate From 60b3718abf0b20df60da7fef6bbdb554a45a7e3e Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 11 Sep 2023 18:53:15 +0900 Subject: [PATCH 3/4] fix(vehicle_cmd_gate): use real velocity for the lateral filter (#4918) * fix(vehicle_cmd_gate): use real velocity for the lateral filter Signed-off-by: Takamasa Horibe * fix test Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../src/vehicle_cmd_filter.cpp | 22 +++-- .../src/vehicle_cmd_filter.hpp | 1 + .../test_filter_in_vehicle_cmd_gate_node.cpp | 36 +++++-- .../test/src/test_vehicle_cmd_filter.cpp | 95 ++++++++++++------- 4 files changed, 106 insertions(+), 48 deletions(-) diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index 8dec06c455868..6a33855fb4d0a 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -104,25 +104,28 @@ void VehicleCmdFilter::VehicleCmdFilter::limitLongitudinalWithJerk( std::clamp(static_cast(input.longitudinal.jerk), -lon_jerk_lim, lon_jerk_lim); } +// Use ego vehicle speed (not speed command) for the lateral acceleration calculation, otherwise the +// filtered steering angle oscillates if the input velocity oscillates. void VehicleCmdFilter::limitLateralWithLatAcc( [[maybe_unused]] const double dt, AckermannControlCommand & input) const { const auto lat_acc_lim = getLatAccLim(); - double latacc = calcLatAcc(input); + double latacc = calcLatAcc(input, current_speed_); if (std::fabs(latacc) > lat_acc_lim) { - double v_sq = - std::max(static_cast(input.longitudinal.speed * input.longitudinal.speed), 0.001); + double v_sq = std::max(static_cast(current_speed_ * current_speed_), 0.001); double steer_lim = std::atan(lat_acc_lim * param_.wheel_base / v_sq); input.lateral.steering_tire_angle = latacc > 0.0 ? steer_lim : -steer_lim; } } +// Use ego vehicle speed (not speed command) for the lateral acceleration calculation, otherwise the +// filtered steering angle oscillates if the input velocity oscillates. void VehicleCmdFilter::limitLateralWithLatJerk( const double dt, AckermannControlCommand & input) const { - double curr_latacc = calcLatAcc(input); - double prev_latacc = calcLatAcc(prev_cmd_); + double curr_latacc = calcLatAcc(input, current_speed_); + double prev_latacc = calcLatAcc(prev_cmd_, current_speed_); const auto lat_jerk_lim = getLatJerkLim(); @@ -130,9 +133,9 @@ void VehicleCmdFilter::limitLateralWithLatJerk( const double latacc_min = prev_latacc - lat_jerk_lim * dt; if (curr_latacc > latacc_max) { - input.lateral.steering_tire_angle = calcSteerFromLatacc(input.longitudinal.speed, latacc_max); + input.lateral.steering_tire_angle = calcSteerFromLatacc(current_speed_, latacc_max); } else if (curr_latacc < latacc_min) { - input.lateral.steering_tire_angle = calcSteerFromLatacc(input.longitudinal.speed, latacc_min); + input.lateral.steering_tire_angle = calcSteerFromLatacc(current_speed_, latacc_min); } } @@ -205,6 +208,11 @@ double VehicleCmdFilter::calcLatAcc(const AckermannControlCommand & cmd) const return v * v * std::tan(cmd.lateral.steering_tire_angle) / param_.wheel_base; } +double VehicleCmdFilter::calcLatAcc(const AckermannControlCommand & cmd, const double v) const +{ + return v * v * std::tan(cmd.lateral.steering_tire_angle) / param_.wheel_base; +} + double VehicleCmdFilter::limitDiff( const double curr, const double prev, const double diff_lim) const { diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp index eb85fcbeb8606..a79b8a38bae8d 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp @@ -81,6 +81,7 @@ class VehicleCmdFilter bool setParameterWithValidation(const VehicleCmdFilterParam & p); double calcLatAcc(const AckermannControlCommand & cmd) const; + double calcLatAcc(const AckermannControlCommand & cmd, const double v) const; double calcSteerFromLatacc(const double v, const double latacc) const; double limitDiff(const double curr, const double prev, const double diff_lim) const; diff --git a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp index 6384fbfb22f60..1156656385117 100644 --- a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp +++ b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp @@ -150,7 +150,6 @@ class PubSubNode : public rclcpp::Node if (!cmd_history_.empty()) { // ego moves as commanded. msg.twist.twist.linear.x = cmd_history_.back()->longitudinal.speed; // ego moves as commanded. - } else { } pub_odom_->publish(msg); } @@ -238,16 +237,19 @@ class PubSubNode : public rclcpp::Node const auto lon_jerk = (lon_acc - cmd_prev->longitudinal.acceleration) / dt; const auto lat_acc = lon_vel * lon_vel * std::tan(cmd_curr->lateral.steering_tire_angle) / wheelbase; - const auto prev_lon_vel = cmd_prev->longitudinal.speed; + + // TODO(Horibe): prev_lat_acc should use the previous velocity, but use the current velocity + // since the current filtering logic uses the current velocity. const auto prev_lat_acc = - prev_lon_vel * prev_lon_vel * std::tan(cmd_prev->lateral.steering_tire_angle) / wheelbase; + lon_vel * lon_vel * std::tan(cmd_prev->lateral.steering_tire_angle) / wheelbase; const auto lat_jerk = (lat_acc - prev_lat_acc) / dt; /* debug print */ // const auto steer = cmd_curr->lateral.steering_tire_angle; // PRINT_VALUES( - // dt, lon_vel, lon_acc, lon_jerk, lat_acc, lat_jerk, steer, max_lon_acc_lim, - // max_lon_jerk_lim, max_lat_acc_lim, max_lat_jerk_lim); + // dt, i_curr, i_prev, steer, lon_vel, prev_lon_vel, lon_acc, lon_jerk, lat_acc, prev_lat_acc, + // prev_lat_acc2, lat_jerk, max_lon_acc_lim, max_lon_jerk_lim, max_lat_acc_lim, + // max_lat_jerk_lim); // Output command must be smaller than maximum limit. // TODO(Horibe): check for each velocity range. @@ -368,6 +370,16 @@ TEST_P(TestFixture, CheckFilterForSinCmd) [[maybe_unused]] auto b = std::system("ros2 node info /test_vehicle_cmd_gate_filter_pubsub"); [[maybe_unused]] auto c = std::system("ros2 node info /vehicle_cmd_gate"); + // std::cerr << "speed signal: " << cmd_generator_.p_.velocity.max << " * sin(2pi * " + // << cmd_generator_.p_.velocity.freq << " * dt + " << cmd_generator_.p_.velocity.bias + // << ")" << std::endl; + // std::cerr << "accel signal: " << cmd_generator_.p_.acceleration.max << " * sin(2pi * " + // << cmd_generator_.p_.acceleration.freq << " * dt + " + // << cmd_generator_.p_.acceleration.bias << ")" << std::endl; + // std::cerr << "steer signal: " << cmd_generator_.p_.steering.max << " * sin(2pi * " + // << cmd_generator_.p_.steering.freq << " * dt + " << cmd_generator_.p_.steering.bias + // << ")" << std::endl; + for (size_t i = 0; i < 100; ++i) { const bool reset_clock = (i == 0); const auto cmd = cmd_generator_.calcSinWaveCommand(reset_clock); @@ -384,17 +396,23 @@ TEST_P(TestFixture, CheckFilterForSinCmd) }; // High frequency, large value -CmdParams p1 = {/*steer*/ {10, 1, 0}, /*velocity*/ {10, 1.2, 0}, /*acc*/ {5, 1.5, 2}}; +CmdParams p1 = {/*steer*/ {0.5, 1, 0}, /*velocity*/ {10, 0.0, 0}, /*acc*/ {5, 1.5, 2}}; INSTANTIATE_TEST_SUITE_P(TestParam1, TestFixture, ::testing::Values(p1)); // High frequency, normal value -CmdParams p2 = {/*steer*/ {1.5, 2, 1}, /*velocity*/ {5, 1.0, 0}, /*acc*/ {2.0, 3.0, 2}}; +CmdParams p2 = {/*steer*/ {0.5, 2, 1}, /*velocity*/ {5, 1.0, 0}, /*acc*/ {2.0, 3.0, 2}}; INSTANTIATE_TEST_SUITE_P(TestParam2, TestFixture, ::testing::Values(p2)); // High frequency, small value -CmdParams p3 = {/*steer*/ {1.5, 3, 2}, /*velocity*/ {2, 3, 0}, /*acc*/ {0.5, 3, 2}}; +CmdParams p3 = {/*steer*/ {0.5, 3, 2}, /*velocity*/ {2, 3, 0}, /*acc*/ {0.5, 3, 2}}; INSTANTIATE_TEST_SUITE_P(TestParam3, TestFixture, ::testing::Values(p3)); // Low frequency -CmdParams p4 = {/*steer*/ {10, 0.1, 0.5}, /*velocity*/ {10, 0.2, 0}, /*acc*/ {5, 0.1, 2}}; +CmdParams p4 = {/*steer*/ {0.5, 0.1, 0.5}, /*velocity*/ {10, 0.2, 0}, /*acc*/ {5, 0.1, 2}}; INSTANTIATE_TEST_SUITE_P(TestParam4, TestFixture, ::testing::Values(p4)); + +// Large steer, large velocity -> this test fails. +// Lateral acceleration and lateral jerk affect both steer and velocity, and if both steer and +// velocity changes significantly, the current logic cannot adequately handle the situation. +// CmdParams p5 = {/*steer*/ {10.0, 1.0, 0.5}, /*velocity*/ {10, 0.2, 0}, /*acc*/ {5, 0.1, 2}}; +// INSTANTIATE_TEST_SUITE_P(TestParam5, TestFixture, ::testing::Values(p5)); diff --git a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp index 7ce8580120652..1791493aeb17b 100644 --- a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp @@ -56,12 +56,20 @@ AckermannControlCommand genCmd(double s, double sr, double v, double a) return cmd; } +// calc from ego velocity +double calcLatAcc(const AckermannControlCommand & cmd, const double wheelbase, const double ego_v) +{ + return ego_v * ego_v * std::tan(cmd.lateral.steering_tire_angle) / wheelbase; +} + +// calc from command velocity double calcLatAcc(const AckermannControlCommand & cmd, const double wheelbase) { double v = cmd.longitudinal.speed; return v * v * std::tan(cmd.lateral.steering_tire_angle) / wheelbase; } +// calc from command velocity double calcLatJerk( const AckermannControlCommand & cmd, const AckermannControlCommand & prev_cmd, const double wheelbase, const double dt) @@ -75,14 +83,28 @@ double calcLatJerk( return (curr - prev) / dt; } +// calc from ego velocity +double calcLatJerk( + const AckermannControlCommand & cmd, const AckermannControlCommand & prev_cmd, + const double wheelbase, const double dt, const double ego_v) +{ + const auto prev = ego_v * ego_v * std::tan(prev_cmd.lateral.steering_tire_angle) / wheelbase; + + const auto curr = ego_v * ego_v * std::tan(cmd.lateral.steering_tire_angle) / wheelbase; + + return (curr - prev) / dt; +} + void test_1d_limit( - double V_LIM, double A_LIM, double J_LIM, double LAT_A_LIM, double LAT_J_LIM, double STEER_DIFF, - const AckermannControlCommand & prev_cmd, const AckermannControlCommand & raw_cmd) + double ego_v, double V_LIM, double A_LIM, double J_LIM, double LAT_A_LIM, double LAT_J_LIM, + double STEER_DIFF, const AckermannControlCommand & prev_cmd, + const AckermannControlCommand & raw_cmd) { const double WHEELBASE = 3.0; const double DT = 0.1; // [s] vehicle_cmd_gate::VehicleCmdFilter filter; + filter.setCurrentSpeed(ego_v); setFilterParams( filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, WHEELBASE); filter.setPrevCmd(prev_cmd); @@ -153,8 +175,8 @@ void test_1d_limit( { auto filtered_cmd = raw_cmd; filter.limitLateralWithLatAcc(DT, filtered_cmd); - const double filtered_latacc = calcLatAcc(filtered_cmd, WHEELBASE); - const double raw_latacc = calcLatAcc(raw_cmd, WHEELBASE); + const double filtered_latacc = calcLatAcc(filtered_cmd, WHEELBASE, ego_v); + const double raw_latacc = calcLatAcc(raw_cmd, WHEELBASE, ego_v); // check if the filtered value does not exceed the limit. ASSERT_LT_NEAR(std::abs(filtered_latacc), LAT_A_LIM); @@ -169,9 +191,9 @@ void test_1d_limit( { auto filtered_cmd = raw_cmd; filter.limitLateralWithLatJerk(DT, filtered_cmd); - const double prev_lat_acc = calcLatAcc(prev_cmd, WHEELBASE); - const double filtered_lat_acc = calcLatAcc(filtered_cmd, WHEELBASE); - const double raw_lat_acc = calcLatAcc(raw_cmd, WHEELBASE); + const double prev_lat_acc = calcLatAcc(prev_cmd, WHEELBASE, ego_v); + const double filtered_lat_acc = calcLatAcc(filtered_cmd, WHEELBASE, ego_v); + const double raw_lat_acc = calcLatAcc(raw_cmd, WHEELBASE, ego_v); const double filtered_lateral_jerk = (filtered_lat_acc - prev_lat_acc) / DT; // check if the filtered value does not exceed the limit. @@ -211,6 +233,7 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) const std::vector lat_a_arr = {0.01, 1.0, 100.0}; const std::vector lat_j_arr = {0.01, 1.0, 100.0}; const std::vector steer_diff_arr = {0.01, 1.0, 100.0}; + const std::vector ego_v_arr = {0.0, 0.1, 1.0, 3.0, 15.0}; const std::vector prev_cmd_arr = { genCmd(0.0, 0.0, 0.0, 0.0), genCmd(1.0, 1.0, 1.0, 1.0)}; @@ -226,7 +249,9 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) for (const auto & prev_cmd : prev_cmd_arr) { for (const auto & raw_cmd : raw_cmd_arr) { for (const auto & steer_diff : steer_diff_arr) { - test_1d_limit(v, a, j, la, lj, steer_diff, prev_cmd, raw_cmd); + for (const auto & ego_v : ego_v_arr) { + test_1d_limit(ego_v, v, a, j, la, lj, steer_diff, prev_cmd, raw_cmd); + } } } } @@ -371,66 +396,72 @@ TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate) // lateral acc lim // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; // p.lat_acc_lim = std::vector{0.1, 0.2, 0.3}; - const auto _calcLatAcc = [&](const auto & cmd) { return calcLatAcc(cmd, WHEELBASE); }; + const auto _calcLatAcc = [&](const auto & cmd, const double ego_v) { + return calcLatAcc(cmd, WHEELBASE, ego_v); + }; { + // since the lateral acceleration is 0 when the velocity is 0, the target value is 0 only in + // this case set_speed_and_reset_prev(0.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.1, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 0.0), 0.0, ep); set_speed_and_reset_prev(2.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.1, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 2.0), 0.1, ep); set_speed_and_reset_prev(3.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.15, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 3.0), 0.15, ep); set_speed_and_reset_prev(5.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.2 + 0.1 / 6.0, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 5.0), 0.2 + 0.1 / 6.0, ep); set_speed_and_reset_prev(8.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.2 + 0.4 / 6.0, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 8.0), 0.2 + 0.4 / 6.0, ep); set_speed_and_reset_prev(10.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.3, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 10.0), 0.3, ep); set_speed_and_reset_prev(15.0); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd)), 0.3, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatAcc(orig_cmd), 15.0), 0.3, ep); } // lateral jerk lim // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; // p.lat_jerk_lim = std::vector{0.9, 0.7, 0.1}; - const auto _calcLatJerk = [&](const auto & cmd) { - return calcLatJerk(cmd, AckermannControlCommand{}, WHEELBASE, DT); + const auto _calcLatJerk = [&](const auto & cmd, const double ego_v) { + return calcLatJerk(cmd, AckermannControlCommand{}, WHEELBASE, DT, ego_v); }; { + // since the lateral acceleration and jerk is 0 when the velocity is 0, the target value is 0 + // only in this case set_speed_and_reset_prev(0.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.9, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.9, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 0.0), 0.0, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 0.0), DT * 0.0, ep); set_speed_and_reset_prev(2.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.9, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.9, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 2.0), 0.9, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 2.0), DT * 0.9, ep); set_speed_and_reset_prev(3.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.8, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.8, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 3.0), 0.8, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 3.0), DT * 0.8, ep); set_speed_and_reset_prev(5.0); const auto expect_v5 = 0.7 - 0.6 * (1.0 / 6.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), expect_v5, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * expect_v5, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 5.0), expect_v5, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 5.0), DT * expect_v5, ep); set_speed_and_reset_prev(8.0); const auto expect_v8 = 0.7 - 0.6 * (4.0 / 6.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), expect_v8, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * expect_v8, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 8.0), expect_v8, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 8.0), DT * expect_v8, ep); set_speed_and_reset_prev(10.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.1, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.1, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 10.0), 0.1, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 10.0), DT * 0.1, ep); set_speed_and_reset_prev(15.0); - EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd)), 0.1, ep); - EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd)), DT * 0.1, ep); + EXPECT_NEAR(_calcLatJerk(_limitLateralWithLatJerk(orig_cmd), 15.0), 0.1, ep); + EXPECT_NEAR(_calcLatAcc(_limitLateralWithLatJerk(orig_cmd), 15.0), DT * 0.1, ep); } // steering diff lim From ca2a5b8821baae0884109c2f64dea75360dd4389 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 21 Sep 2023 14:13:15 +0900 Subject: [PATCH 4/4] feat(vehicle_cmd_gate)!: add steer and steer_rate filter (#5044) * feat(vehicle_cmd_gate): add steering angle and rate filter Signed-off-by: Takamasa Horibe * update test Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../config/vehicle_cmd_gate.param.yaml | 4 + .../src/vehicle_cmd_filter.cpp | 57 +++++++++- .../src/vehicle_cmd_filter.hpp | 7 ++ .../vehicle_cmd_gate/src/vehicle_cmd_gate.cpp | 4 + .../test_filter_in_vehicle_cmd_gate_node.cpp | 4 + .../test/src/test_vehicle_cmd_filter.cpp | 107 ++++++++++++++++-- 6 files changed, 170 insertions(+), 13 deletions(-) diff --git a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index 8e3c8a6934615..a1b362f054bee 100644 --- a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -14,6 +14,8 @@ nominal: vel_lim: 25.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [5.0, 4.0] lon_jerk_lim: [5.0, 4.0] lat_acc_lim: [5.0, 4.0] @@ -22,6 +24,8 @@ on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [1.0, 0.9] lon_jerk_lim: [0.5, 0.4] lat_acc_lim: [2.0, 1.8] diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index 6a33855fb4d0a..4431534a76a5e 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -29,7 +29,8 @@ bool VehicleCmdFilter::setParameterWithValidation(const VehicleCmdFilterParam & const auto s = p.reference_speed_points.size(); if ( p.lon_acc_lim.size() != s || p.lon_jerk_lim.size() != s || p.lat_acc_lim.size() != s || - p.lat_jerk_lim.size() != s || p.actual_steer_diff_lim.size() != s) { + p.lat_jerk_lim.size() != s || p.actual_steer_diff_lim.size() != s || p.steer_lim.size() != s || + p.steer_rate_lim.size() != s) { std::cerr << "VehicleCmdFilter::setParam() There is a size mismatch in the parameter. " "Parameter initialization failed." << std::endl; @@ -39,7 +40,18 @@ bool VehicleCmdFilter::setParameterWithValidation(const VehicleCmdFilterParam & param_ = p; return true; } - +void VehicleCmdFilter::setSteerLim(LimitArray v) +{ + auto tmp = param_; + tmp.steer_lim = v; + setParameterWithValidation(tmp); +} +void VehicleCmdFilter::setSteerRateLim(LimitArray v) +{ + auto tmp = param_; + tmp.steer_rate_lim = v; + setParameterWithValidation(tmp); +} void VehicleCmdFilter::setLonAccLim(LimitArray v) { auto tmp = param_; @@ -151,12 +163,36 @@ void VehicleCmdFilter::limitActualSteerDiff( void VehicleCmdFilter::limitLateralSteer(AckermannControlCommand & input) const { - // TODO(Horibe): parametrize the max steering angle. - // TODO(Horibe): support steering greater than PI/2. Now the lateral acceleration - // calculation does not support bigger steering value than PI/2 due to tan/atan calculation. - constexpr float steer_limit = M_PI_2; + const float steer_limit = getSteerLim(); + input.lateral.steering_tire_angle = std::clamp(input.lateral.steering_tire_angle, -steer_limit, steer_limit); + + // TODO(Horibe): support steering greater than PI/2. Now the lateral acceleration + // calculation does not support bigger steering value than PI/2 due to tan/atan calculation. + if (std::abs(input.lateral.steering_tire_angle) > M_PI_2f) { + std::cerr << "[vehicle_Cmd_gate] limitLateralSteer(): steering limit is set to pi/2 since the " + "current filtering logic can not handle the steering larger than pi/2. Please " + "check the steering angle limit." + << std::endl; + + std::clamp(input.lateral.steering_tire_angle, -M_PI_2f, M_PI_2f); + } +} + +void VehicleCmdFilter::limitLateralSteerRate(const double dt, AckermannControlCommand & input) const +{ + const float steer_rate_limit = getSteerRateLim(); + + // for steering angle rate + input.lateral.steering_tire_rotation_rate = + std::clamp(input.lateral.steering_tire_rotation_rate, -steer_rate_limit, steer_rate_limit); + + // for steering angle + const float steer_diff_limit = steer_rate_limit * dt; + float ds = input.lateral.steering_tire_angle - prev_cmd_.lateral.steering_tire_angle; + ds = std::clamp(ds, -steer_diff_limit, steer_diff_limit); + input.lateral.steering_tire_angle = prev_cmd_.lateral.steering_tire_angle + ds; } void VehicleCmdFilter::filterAll( @@ -165,6 +201,7 @@ void VehicleCmdFilter::filterAll( { const auto cmd_orig = cmd; limitLateralSteer(cmd); + limitLateralSteerRate(dt, cmd); limitLongitudinalWithJerk(dt, cmd); limitLongitudinalWithAcc(dt, cmd); limitLongitudinalWithVel(cmd); @@ -267,6 +304,14 @@ double VehicleCmdFilter::getLatJerkLim() const { return interpolateFromSpeed(param_.lat_jerk_lim); } +double VehicleCmdFilter::getSteerLim() const +{ + return interpolateFromSpeed(param_.steer_lim); +} +double VehicleCmdFilter::getSteerRateLim() const +{ + return interpolateFromSpeed(param_.steer_rate_lim); +} double VehicleCmdFilter::getSteerDiffLim() const { return interpolateFromSpeed(param_.actual_steer_diff_lim); diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp index a79b8a38bae8d..cf7a1f627a68a 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp @@ -37,6 +37,8 @@ struct VehicleCmdFilterParam LimitArray lon_jerk_lim; LimitArray lat_acc_lim; LimitArray lat_jerk_lim; + LimitArray steer_lim; + LimitArray steer_rate_lim; LimitArray actual_steer_diff_lim; }; class VehicleCmdFilter @@ -47,6 +49,8 @@ class VehicleCmdFilter void setWheelBase(double v) { param_.wheel_base = v; } void setVelLim(double v) { param_.vel_lim = v; } + void setSteerLim(LimitArray v); + void setSteerRateLim(LimitArray v); void setLonAccLim(LimitArray v); void setLonJerkLim(LimitArray v); void setLatAccLim(LimitArray v); @@ -64,6 +68,7 @@ class VehicleCmdFilter void limitActualSteerDiff( const double current_steer_angle, AckermannControlCommand & input) const; void limitLateralSteer(AckermannControlCommand & input) const; + void limitLateralSteerRate(const double dt, AckermannControlCommand & input) const; void filterAll( const double dt, const double current_steer_angle, AckermannControlCommand & input, IsFilterActivated & is_activated) const; @@ -90,6 +95,8 @@ class VehicleCmdFilter double getLonJerkLim() const; double getLatAccLim() const; double getLatJerkLim() const; + double getSteerLim() const; + double getSteerRateLim() const; double getSteerDiffLim() const; }; } // namespace vehicle_cmd_gate diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 664ea5e444fe7..d770b5f49db6f 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -168,6 +168,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) p.vel_lim = declare_parameter("nominal.vel_lim"); p.reference_speed_points = declare_parameter>("nominal.reference_speed_points"); + p.steer_lim = declare_parameter>("nominal.steer_lim"); + p.steer_rate_lim = declare_parameter>("nominal.steer_rate_lim"); p.lon_acc_lim = declare_parameter>("nominal.lon_acc_lim"); p.lon_jerk_lim = declare_parameter>("nominal.lon_jerk_lim"); p.lat_acc_lim = declare_parameter>("nominal.lat_acc_lim"); @@ -183,6 +185,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) p.vel_lim = declare_parameter("on_transition.vel_lim"); p.reference_speed_points = declare_parameter>("on_transition.reference_speed_points"); + p.steer_lim = declare_parameter>("on_transition.steer_lim"); + p.steer_rate_lim = declare_parameter>("on_transition.steer_rate_lim"); p.lon_acc_lim = declare_parameter>("on_transition.lon_acc_lim"); p.lon_jerk_lim = declare_parameter>("on_transition.lon_jerk_lim"); p.lat_acc_lim = declare_parameter>("on_transition.lat_acc_lim"); diff --git a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp index 1156656385117..f02235ed1ecbf 100644 --- a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp +++ b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp @@ -45,6 +45,8 @@ void print_values(int i, const T1 & name, const T2 & a, const T3 &... b) // global params const std::vector reference_speed_points = {5., 10., 15., 20.}; +const std::vector steer_lim = {0.5, 0.3, 0.2, 0.1}; +const std::vector steer_rate_lim = {0.5, 0.3, 0.2, 0.1}; const std::vector lon_acc_lim = {1.5, 1.0, 0.8, 0.6}; const std::vector lon_jerk_lim = {1.4, 0.9, 0.7, 0.5}; const std::vector lat_acc_lim = {2.0, 1.6, 1.2, 0.8}; @@ -336,6 +338,8 @@ std::shared_ptr generateNode() node_options.append_parameter_override("wheel_base", wheelbase); override("nominal.reference_speed_points", reference_speed_points); override("nominal.reference_speed_points", reference_speed_points); + override("nominal.steer_lim", steer_lim); + override("nominal.steer_rate_lim", steer_rate_lim); override("nominal.lon_acc_lim", lon_acc_lim); override("nominal.lon_jerk_lim", lon_jerk_lim); override("nominal.lat_acc_lim", lat_acc_lim); diff --git a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp index 1791493aeb17b..b8200490dd1d5 100644 --- a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp @@ -31,12 +31,15 @@ constexpr double NOMINAL_INTERVAL = 1.0; void setFilterParams( vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a, - LimitArray j, LimitArray lat_a, LimitArray lat_j, LimitArray steer_diff, const double wheelbase) + LimitArray j, LimitArray lat_a, LimitArray lat_j, LimitArray steer_diff, LimitArray steer_lim, + LimitArray steer_rate_lim, const double wheelbase) { vehicle_cmd_gate::VehicleCmdFilterParam p; p.vel_lim = v; p.wheel_base = wheelbase; p.reference_speed_points = speed_points; + p.steer_lim = steer_lim; + p.steer_rate_lim = steer_rate_lim; p.lat_acc_lim = lat_a; p.lat_jerk_lim = lat_j; p.lon_acc_lim = a; @@ -97,8 +100,8 @@ double calcLatJerk( void test_1d_limit( double ego_v, double V_LIM, double A_LIM, double J_LIM, double LAT_A_LIM, double LAT_J_LIM, - double STEER_DIFF, const AckermannControlCommand & prev_cmd, - const AckermannControlCommand & raw_cmd) + double STEER_DIFF, double STEER_LIM, double STEER_RATE_LIM, + const AckermannControlCommand & prev_cmd, const AckermannControlCommand & raw_cmd) { const double WHEELBASE = 3.0; const double DT = 0.1; // [s] @@ -106,7 +109,8 @@ void test_1d_limit( vehicle_cmd_gate::VehicleCmdFilter filter; filter.setCurrentSpeed(ego_v); setFilterParams( - filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, WHEELBASE); + filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, {STEER_LIM}, + {STEER_RATE_LIM}, WHEELBASE); filter.setPrevCmd(prev_cmd); // velocity filter @@ -233,6 +237,8 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) const std::vector lat_a_arr = {0.01, 1.0, 100.0}; const std::vector lat_j_arr = {0.01, 1.0, 100.0}; const std::vector steer_diff_arr = {0.01, 1.0, 100.0}; + const std::vector steer_lim_arr = {0.01, 1.0, 100.0}; + const std::vector steer_rate_lim_arr = {0.01, 1.0, 100.0}; const std::vector ego_v_arr = {0.0, 0.1, 1.0, 3.0, 15.0}; const std::vector prev_cmd_arr = { @@ -249,8 +255,13 @@ TEST(VehicleCmdFilter, VehicleCmdFilter) for (const auto & prev_cmd : prev_cmd_arr) { for (const auto & raw_cmd : raw_cmd_arr) { for (const auto & steer_diff : steer_diff_arr) { - for (const auto & ego_v : ego_v_arr) { - test_1d_limit(ego_v, v, a, j, la, lj, steer_diff, prev_cmd, raw_cmd); + for (const auto & steer : steer_lim_arr) { + for (const auto & steer_rate : steer_rate_lim_arr) { + for (const auto & ego_v : ego_v_arr) { + test_1d_limit( + ego_v, v, a, j, la, lj, steer_diff, steer, steer_rate, prev_cmd, raw_cmd); + } + } } } } @@ -271,6 +282,8 @@ TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate) p.wheel_base = WHEELBASE; p.vel_lim = 20.0; p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + p.steer_lim = std::vector{0.1, 0.2, 0.3}; + p.steer_rate_lim = std::vector{0.2, 0.1, 0.05}; p.lon_acc_lim = std::vector{0.3, 0.4, 0.5}; p.lon_jerk_lim = std::vector{0.4, 0.4, 0.7}; p.lat_acc_lim = std::vector{0.1, 0.2, 0.3}; @@ -293,7 +306,16 @@ TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate) const auto set_speed_and_reset_prev = [&](const auto & current_vel) { filter.setCurrentSpeed(current_vel); }; - + const auto _limitSteer = [&](const auto & in) { + auto out = in; + filter.limitLateralSteer(out); + return out; + }; + const auto _limitSteerRate = [&](const auto & in) { + auto out = in; + filter.limitLateralSteerRate(DT, out); + return out; + }; const auto _limitLongitudinalWithVel = [&](const auto & in) { auto out = in; filter.limitLongitudinalWithVel(out); @@ -334,6 +356,77 @@ TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate) EXPECT_NEAR(_limitLongitudinalWithVel(orig_cmd).longitudinal.speed, 20.0, ep); } + // steer angle lim + // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + // p.steer_lim = std::vector{0.1, 0.2, 0.3}; + { + set_speed_and_reset_prev(0.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.1, ep); + + set_speed_and_reset_prev(2.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.1, ep); + + set_speed_and_reset_prev(3.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.15, ep); + + set_speed_and_reset_prev(5.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.2 + 0.1 / 6.0, ep); + + set_speed_and_reset_prev(8.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.2 + 0.1 * 4.0 / 6.0, ep); + + set_speed_and_reset_prev(10.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.3, ep); + + set_speed_and_reset_prev(15.0); + EXPECT_NEAR(_limitSteer(orig_cmd).lateral.steering_tire_angle, 0.3, ep); + } + + // steer angle rate lim + // p.reference_speed_points = std::vector{2.0, 4.0, 10.0}; + // p.steer_rate_lim = std::vector{0.2, 0.1, 0.05}; + { + const auto calcSteerRateFromAngle = [&](const auto & cmd) { + return (cmd.steering_tire_angle - 0.0) / DT; + }; + autoware_auto_control_msgs::msg::AckermannLateralCommand filtered; + + set_speed_and_reset_prev(0.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.2, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.2, ep); + + set_speed_and_reset_prev(2.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.2, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.2, ep); + + set_speed_and_reset_prev(3.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.15, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.15, ep); + + set_speed_and_reset_prev(5.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.1 - 0.05 * 1.0 / 6.0, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.1 - 0.05 * 1.0 / 6.0, ep); + + set_speed_and_reset_prev(8.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.1 - 0.05 * 4.0 / 6.0, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.1 - 0.05 * 4.0 / 6.0, ep); + + set_speed_and_reset_prev(10.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.05, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.05, ep); + + set_speed_and_reset_prev(15.0); + filtered = _limitSteerRate(orig_cmd).lateral; + EXPECT_NEAR(calcSteerRateFromAngle(filtered), 0.05, ep); + EXPECT_NEAR(filtered.steering_tire_rotation_rate, 0.05, ep); + } + // longitudinal acc lim { set_speed_and_reset_prev(0.0);