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fix(autoware_mpc_lateral_controller): fix calculation method #1645

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Dec 13, 2024
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fix(autoware_mpc_lateral_controller): fix calculation method #1645

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14 changes: 5 additions & 9 deletions ...ol/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,29 +83,25 @@ MPCTrajectory KinematicsBicycleModel::calculatePredictedTrajectoryInWorldCoordin

// create initial state in the world coordinate
Eigen::VectorXd state_w = [&]() {
Eigen::VectorXd state = Eigen::VectorXd::Zero(4);
Eigen::VectorXd state = Eigen::VectorXd::Zero(3);
const auto lateral_error_0 = x0(0);
const auto yaw_error_0 = x0(1);
state(0, 0) = t.x.at(0) - std::sin(t.yaw.at(0)) * lateral_error_0; // world-x
state(1, 0) = t.y.at(0) + std::cos(t.yaw.at(0)) * lateral_error_0; // world-y
state(2, 0) = t.yaw.at(0) + yaw_error_0; // world-yaw
state(3, 0) = x0(2); // steering
return state;
}();

// update state in the world coordinate
const auto updateState = [&](
const Eigen::VectorXd & state_w, const Eigen::MatrixXd & input,
const double dt, const double velocity) {
const Eigen::VectorXd & state_w, const double & input, const double dt,
const double velocity) {
const auto yaw = state_w(2);
const auto steer = state_w(3);
const auto desired_steer = input(0);

Eigen::VectorXd dstate = Eigen::VectorXd::Zero(4);
dstate(0) = velocity * std::cos(yaw);
dstate(1) = velocity * std::sin(yaw);
dstate(2) = velocity * std::tan(steer) / m_wheelbase;
dstate(3) = -(steer - desired_steer) / m_steer_tau;
dstate(2) = velocity * std::tan(input) / m_wheelbase;

// Note: don't do "return state_w + dstate * dt", which does not work due to the lazy evaluation
// in Eigen.
Expand All @@ -117,7 +113,7 @@ MPCTrajectory KinematicsBicycleModel::calculatePredictedTrajectoryInWorldCoordin
const auto DIM_U = getDimU();

for (size_t i = 0; i < reference_trajectory.size(); ++i) {
state_w = updateState(state_w, Uex.block(i * DIM_U, 0, DIM_U, 1), dt, t.vx.at(i));
state_w = updateState(state_w, Uex(i * DIM_U, 0), dt, t.vx.at(i));
mpc_predicted_trajectory.push_back(
state_w(0), state_w(1), t.z.at(i), state_w(2), t.vx.at(i), t.k.at(i), t.smooth_k.at(i),
t.relative_time.at(i));
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