feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition #7718
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fix diff limit structure fix stopped condition define a new param Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #7718 +/- ##
==========================================
- Coverage 29.13% 29.13% -0.01%
==========================================
Files 1609 1609
Lines 118154 118174 +20
Branches 50846 50850 +4
==========================================
+ Hits 34426 34429 +3
- Misses 74517 74532 +15
- Partials 9211 9213 +2
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…nd fix state change condition (autowarefoundation#7718) change diff limit structure change stopped condition define a new param Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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* feat(simple_planning_simulator): add new vehicle model with falling down (autowarefoundation#7651) * add new vehicle model Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (autowarefoundation#7720) * delete a fucntion block. More appropriate function can be achieved by the parameter settings. * add notation to readme --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (autowarefoundation#7718) change diff limit structure change stopped condition define a new param Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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…nd fix state change condition (autowarefoundation#7718) change diff limit structure change stopped condition define a new param Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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…nd fix state change condition (autowarefoundation#7718) change diff limit structure change stopped condition define a new param Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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Description
This PR re-organize diff limit structure to achieve proper handling of diff limit when the state is changed.
Creep down problems on slopes will be fixed by this PR and #7720.
In the new structure raw_ctrl_cmd denotes acceleration and ctrl_cmd denotes pedal position.
Before
After
Related links
launch PR: autowarefoundation/autoware_launch#1052
How was this PR tested?
psim, tier4 internal tests and vehicle tests
Notes for reviewers
None.
Interface changes
some of parameters are newly defined and deleted
Effects on system behavior
None.