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feat(pid_longitudinal_controller): constant feedback for moving backward #973

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feat(pid_longitudinal_controller): constant feedback for moving backward #973

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afecb8c
feat(pid_longitudinal_controller): constant feedback for moving backward
takayuki5168 Oct 23, 2023
bfd05ac
fix
takayuki5168 Oct 23, 2023
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2 changes: 2 additions & 0 deletions ...ngitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -364,6 +364,8 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
double applyVelocityFeedback(
const Motion target_motion, const double dt, const double current_vel, const Shift & shift);

double applySlidingDownFeedback(const double current_vel, const ControlData & control_data) const;

/**
* @brief update variables for debugging about pitch
* @param [in] pitch current pitch of the vehicle (filtered)
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15 changes: 14 additions & 1 deletion control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
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Expand Up @@ -666,8 +666,12 @@ PidLongitudinalController::Motion PidLongitudinalController::calcCtrlCmd(
m_debug_values.setValues(DebugValues::TYPE::PREDICTED_VEL, pred_vel_in_target);

raw_ctrl_cmd.vel = target_motion.vel;
raw_ctrl_cmd.acc =

const double vel_feedback_acc =
applyVelocityFeedback(target_motion, control_data.dt, pred_vel_in_target, control_data.shift);
const double sliding_down_feedback_acc = applySlidingDownFeedback(current_vel, control_data);
raw_ctrl_cmd.acc = vel_feedback_acc + sliding_down_feedback_acc;

RCLCPP_DEBUG(
node_->get_logger(),
"[feedback control] vel: %3.3f, acc: %3.3f, dt: %3.3f, v_curr: %3.3f, v_ref: %3.3f "
Expand Down Expand Up @@ -982,6 +986,15 @@ double PidLongitudinalController::applyVelocityFeedback(
return feedback_acc;
}

double PidLongitudinalController::applySlidingDownFeedback(
const double current_vel, const ControlData & control_data) const
{
if (control_data.shift != Shift::Forward || 0.0 < current_vel) {
return 0.0;
}
return 0.5;
}

void PidLongitudinalController::updatePitchDebugValues(
const double pitch, const double traj_pitch, const double raw_pitch)
{
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