feat(motion_velocity_smoother): add steering rate limit while planning velocity

[brkay54]

Description

Closes #1023 Discussion Related #567

Autoware do not depend the steering angle rate. In lateral controller, we can set steering_rate_limit (here). However, when lower steering_rate_limit is set, the states that are calculated by lateral_controller are seem good. But longitudinal controller can not handle, It should slow down the vehicle because of low steering_angle_rate but it is not. And vehicle could not turn over the high curvature paths.

To solve this problem, I added new function into motion_velocity_smoother in smoother_base called applySteeringRateLimit. This function runs in following order:

• Resample trajectory
• Calculate the desired steering tire angles with following equation:
• Calculate the desired velocities with respect to current velocity and desired steering angle

Related links

Tests performed

Notes for reviewers

You can change the steering tire rate limit with the param in lateral controller. Also, you should check the parameters in motion_velocity_smoother.param.yaml. Please consider the min_curve_velocity parameter, if vehicle can not turn in the curves.

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[codecov[bot]]

Codecov Report

Merging #1071 (cf17866) into main (c211845) will decrease coverage by 0.03%. The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1071      +/-   ##
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- Coverage   10.41%   10.37%   -0.04%     
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  Files        1218     1218              
  Lines       87494    87785     +291     
  Branches    20485    20528      +43     
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  Hits         9109     9109              
- Misses      68925    69216     +291     
  Partials     9460     9460              

Flag	Coverage Δ		*Carryforward flag
differential	3.57% <0.00%> (?)
total	10.39% <0.00%> (ø)		Carriedforward from c211845

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ity_smoother/src/motion_velocity_smoother_node.cpp	0.00% <0.00%> (ø)
...n_velocity_smoother/src/smoother/smoother_base.cpp	0.00% <0.00%> (ø)

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[mitsudome-r]

We would like to have LeoDrive to test this PR on their vehicle before merging.

[xmfcx]

Next week will be tested.

@TakaHoribe has concerns about the lateral acceleration calculation methods. It might have noise issues. It might be better to smooth out data.

[xmfcx]

This is being tested on the ISUZU bus right now, the updates will be shared after testing.

[brkay54]

velocity profile of vehicle with 5.0 dps steering rate in sharp turn.

[xmfcx]

@brkay54 are there any updates on this PR?

[brkay54]

@brkay54 are there any updates on this PR?

It is waiting review.

[mehmetdogru]

I tested the PR both on the test field (Gebze Technical University) and with planning simulator. Gave an example of a car which has lower steer_rate_lim_dps to make the difference more obvious.

---

Before the PR

https://github.com/autowarefoundation/autoware.universe/blob/1379811cbfc59b1a3ff047f83099994e2d138d2a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml#L48

steer_rate_lim_dps: 10

video

---

After the PR

https://github.com/autowarefoundation/autoware.universe/blob/1379811cbfc59b1a3ff047f83099994e2d138d2a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml#L48

steer_rate_lim_dps: 10

https://github.com/brkay54/autoware.universe/blob/cf178660cb6640c10b72f51a7e38e1800ef24f88/launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml#L51

max_steering_angle_rate: 10

video