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Add steering rate consideration for future state calculation #552

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Gernby commented Mar 6, 2019

This enhancement is part of a large group of enhancements included in a different PR. I realized that it would be easier to understand and evaluate the merits of each individual enhancement before that PR is completed. I'll be submitting many more over the next few days.

The existing future state calculation does not consider the steering rate, so the MPC uses the current steering angle as if it will stay constant for the full actuator delay. The simple enhancement uses the steering rate to determine a more likely future angle.

Gernby added some commits Jan 10, 2019


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Gernby commented Mar 11, 2019

After careful review of my lateral control logic, I think this particular component is unnecessary.

@Gernby Gernby closed this Mar 11, 2019

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