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Motion_velocity_smoother should depend the steering_rate_limit #1023

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5 tasks done
brkay54 opened this issue Jun 1, 2022 · 1 comment · Fixed by #1071
Closed
5 tasks done

Motion_velocity_smoother should depend the steering_rate_limit #1023

brkay54 opened this issue Jun 1, 2022 · 1 comment · Fixed by #1071
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@brkay54
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component:planning Route planning, decision-making, and navigation. (auto-assigned) type:new-feature New functionalities or additions, feature requests.
Milestone
Bus ODD Sep-Oct M...

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@brkay54
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brkay54 commented Jun 1, 2022 •
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

Discussion here!
Related: #567

Hello everyone,

I realized that planning module in Autoware do not depend the steering angle rate. In lateral controller, we can set steering_rate_limit (here). When I set lower steering_rate_limit, the states that are calculated by lateral_controller are seem good. But longitudinal controller can not handle, It should slow down the vehicle because of low steering_angle_rate but it is not. vehicle could not turn over the high curvature paths.

Purpose

As mentioned in discussion, new function which change the velocities w.r.t. steering_rate_limit will be added to motion_velocity_smoother.

Possible approaches

image
New step will be added after apply lateral acceleration limit to decrease velocities where steering_rate > steering_rate_limit.

Definition of done

  • Design algorithm
  • Create function and implement it
@brkay54 brkay54 added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jun 1, 2022
@brkay54 brkay54 self-assigned this Jun 1, 2022
@TakaHoribe
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Nice work. Thank you!

@brkay54 brkay54 mentioned this issue Jun 9, 2022
Merged
7 tasks
@BonoloAWF BonoloAWF added the type:new-feature New functionalities or additions, feature requests. label Jun 14, 2022
@xmfcx xmfcx added this to the Bus ODD July-Aug Milestone milestone Jul 19, 2022
saka1-s pushed a commit to saka1-s/autoware.universe that referenced this issue Nov 28, 2023
@TomohitoAndo @Owen-Liuyuxuan @pre-commit-ci
refactor(perception_rviz_plugin): apply thread pool to manage detache…
060475c 
…d thread (autowarefoundation#1023)

refactor(perception_rviz_plugin): apply thread pool to manage detached thread (autowarefoundation#5418)

* apply thread pool to manage detached thread



* style(pre-commit): autofix

* clean up the destructor



* style(pre-commit): autofix

* use function object in the queue instead



* style(pre-commit): autofix

* fix condition variable naming problem



* add utility include for CI



---------

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Co-authored-by: Yuxuan Liu <619684051@qq.com>
Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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@brkay54 brkay54

Labels
component:planning Route planning, decision-making, and navigation. (auto-assigned) type:new-feature New functionalities or additions, feature requests.
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Bus ODD Project
Status: Done
Milestone
Bus ODD Sep-Oct Milestone
4 participants
@xmfcx @TakaHoribe @brkay54 @BonoloAWF