feat(simple_planning_simulator): add mechanical actuaion sim model #9300
+1,817
−286
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
kosuke55
requested review from
soblin,
maxime-clem,
TakaHoribe,
tkimura4 and
zulfaqar-azmi-t4
as code owners
github-actions
bot
added
type:documentation
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
kosuke55
added
the
tag:run-build-and-test-differential
kosuke55
force-pushed
the
feat/steering_simulator
branch
from
f948fcd
to
8d3b85b
Compare
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9300 +/- ##
==========================================
+ Coverage 29.31% 29.45% +0.13%
==========================================
Files 1334 1338 +4
Lines 102800 103074 +274
Branches 39984 40066 +82
==========================================
+ Hits 30136 30357 +221
- Misses 69797 69848 +51
- Partials 2867 2869 +2
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
soblin
reviewed
Nov 13, 2024
| DelayBuffer delay_buffer_; | ||
| PIDController pid_; | ||
| SteeringDynamics steering_dynamics_; | ||
| MechanicalParams params_; |
There was a problem hiding this comment.
Suggested change
| MechanicalParams params_; | |
| const MechanicalParams params_; |
There was a problem hiding this comment.
fixed in update from suggestions
...ator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp
Show resolved
Hide resolved
| dynamics_state_new.angular_velocity = std::clamp( | ||
| dynamics_state.angular_velocity + d_angular_velocity * dt, -params_.rate_limit, | ||
| params_.rate_limit); | ||
| dynamics_state_new.is_in_dead_zone = k4.is_in_dead_zone; |
There was a problem hiding this comment.
ここでk4.is_in_dead_zone使っていいのかだけ気になりました
There was a problem hiding this comment.
微妙に判定ずれてしまうかと思うので直しました。
k1-k4の結果から入力トルク(delayed_signal)を求めて、それを現在のdynamics_stateに入力した際にis_deazoneになるかを判定するようにしました。
const double delayed_signal =
(k1.delay_buffer.back().first + 2.0 * k2.delay_buffer.back().first +
2.0 * k3.delay_buffer.back().first + k4.delay_buffer.back().first) /
6.0;
const double elapsed_time = delay_buffer_.empty() ? dt : delay_buffer_.back().second + dt;
delay_buffer_ =
delay(delayed_signal, params_.torque_delay_time, delay_buffer_, elapsed_time).second;
dynamics_state_new.is_in_dead_zone =
steering_dynamics_.is_in_dead_zone(dynamics_state_new, delayed_signal);
Comment on lines
132
to
136
| double inertia_{0.0}; | ||
| double damping_{0.0}; | ||
| double stiffness_{0.0}; | ||
| double friction_{0.0}; | ||
| double dead_zone_threshold_{0.0}; |
There was a problem hiding this comment.
Suggested change
| double inertia_{0.0}; | |
| double damping_{0.0}; | |
| double stiffness_{0.0}; | |
| double friction_{0.0}; | |
| double dead_zone_threshold_{0.0}; | |
| const double inertia_; | |
| const double damping_; | |
| const double stiffness_; | |
| const double friction_; | |
| const double dead_zone_threshold_; |
There was a problem hiding this comment.
fixed in update from suggestions
Signed-off-by: kosuke55 <[email protected]> update docs Signed-off-by: kosuke55 <[email protected]>
kosuke55
force-pushed
the
feat/steering_simulator
branch
from
cf2d17e
to
c6c9419
Compare
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
add new simulator model.
The vehicle side software assumes that it has limiters, PID controllers, power steering, etc. for the input.
The conversion in the power steering is approximated by a polynomial.
Steering Dynamics is a model that represents the motion of the tire angle when the Steering Torque is input. It is represented by the following formula.
system identification result is following. I tested real driving data and compare obeserved and simulated steering angle error (focusing on low steer angle)
Results are
mecanical>second order>first orderin that order for train and test data.if tuning for deadzone
Related links
move from #9252.
commit can be refrect and PR can not be reopen for some reason, I recreate PR again
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.