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commaai / openpilot

openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system on 275+ supported cars.
https://comma.ai/openpilot
MIT License
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Enforce lateral/longitudinal rate limits at the MPC side #22151

Closed pd0wm closed 1 year ago

pd0wm commented 3 years ago

Currently the check is not 100% complete. The accelerations/curvature rates are limited, but the velocity/curvature setpoint can still change faster than the limits.

haraschax commented 3 years ago

ACADOS allows limits on the whole plan, so we can use that.

haraschax commented 1 year ago

This is done