fix(mpc): optimization failure due to steer limit #3044
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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| m_raw_steer_cmd_pprev = current_steer.steering_tire_angle; | ||
| // Consider limit. The prev value larger than limiation brakes the optimization constraint and | ||
| // resluts in optimization failure. | ||
| float steer_lim_f = static_cast<float>(m_steer_lim); |
takayuki5168
approved these changes
Mar 10, 2023
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3044 +/- ##
==========================================
- Coverage 11.93% 11.93% -0.01%
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Files 1321 1321
Lines 91991 91992 +1
Branches 24566 24568 +2
==========================================
Hits 10978 10978
- Misses 69654 69655 +1
Partials 11359 11359
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Description
MPC optimization sometimes failed when it receives a steering status larger than
mpc_steering_limit. It is due to the break of the optimization constraint.This PR fixes the
prev_steering_valueconsidering the steering limit.Related links
TIERIV COMPANY INTERNAL LINK: https://tier4.atlassian.net/browse/T4PB-26780
Tests performed
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