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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
Apache License 2.0
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feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition #7718

Closed yuki-takagi-66 closed 2 months ago

yuki-takagi-66 commented 3 months ago

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 https://github.com/autowarefoundation/autoware.universe/pull/7720.

In the new structure raw_ctrl_cmd denotes acceleration and ctrl_cmd denotes pedal position.

Before before

After after

Related links

launch PR: https://github.com/autowarefoundation/autoware_launch/pull/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.

github-actions[bot] commented 3 months ago

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codecov[bot] commented 2 months ago

Codecov Report

Attention: Patch coverage is 71.11111% with 13 lines in your changes missing coverage. Please review.

Project coverage is 29.13%. Comparing base (fe03b39) to head (8680587). Report is 15 commits behind head on main.

Files Patch % Lines
...nal_controller/src/pid_longitudinal_controller.cpp 71.11% 9 Missing and 4 partials :warning:
Additional details and impacted files ```diff @@ 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 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7718/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7718/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `17.80% <71.11%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7718/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.12% <ø> (-0.02%)` | :arrow_down: | Carriedforward from [fe03b39](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/fe03b3917659478a31bbfba4e112615efaf04f1b?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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