delete a fucntion block. More appropriate function can be achieved by…

… the parameter settings.

Signed-off-by: Yuki Takagi <[email protected]>

control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml

@@ -16,14 +16,14 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      reference_speed_points: [20.0, 30.0]
-      steer_lim: [1.0, 0.8]
-      steer_rate_lim: [1.0, 0.8]
-      lon_acc_lim: [5.0, 4.0]
-      lon_jerk_lim: [5.0, 4.0]
-      lat_acc_lim: [5.0, 4.0]
-      lat_jerk_lim: [7.0, 6.0]
-      actual_steer_diff_lim: [1.0, 0.8]
+      reference_speed_points: [0.1, 0.3, 20.0, 30.0]
+      steer_lim: [1.0, 1.0, 1.0, 0.8]
+      steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
+      lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lon_jerk_lim: [80.0, 5.0, 5.0, 4.0]
+      lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]
     on_transition:
       vel_lim: 50.0
       reference_speed_points: [20.0, 30.0]

control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp

@@ -607,7 +607,6 @@ Control VehicleCmdGate::filterControlCommand(const Control & in)
   const auto mode = current_operation_mode_;
   const auto current_status_cmd = getActualStatusAsCommand();
   const auto ego_is_stopped = vehicle_stop_checker_->isVehicleStopped(stop_check_duration_);
-  const auto input_cmd_is_stopping = in.longitudinal.acceleration < 0.0;
 
   filter_.setCurrentSpeed(current_kinematics_.twist.twist.linear.x);
   filter_on_transition_.setCurrentSpeed(current_kinematics_.twist.twist.linear.x);
@@ -618,23 +617,6 @@ Control VehicleCmdGate::filterControlCommand(const Control & in)
   if (mode.is_in_transition) {
     filter_on_transition_.filterAll(dt, current_steer_, out, is_filter_activated);
   } else {
-    // When ego is stopped and the input command is not stopping,
-    // use the higher of actual vehicle longitudinal state
-    // and previous longitudinal command for the filtering
-    // this is to prevent the jerk limits being applied and causing
-    // a delay when restarting the vehicle.
-
-    if (ego_is_stopped && !input_cmd_is_stopping) {
-      auto prev_cmd = filter_.getPrevCmd();
-      prev_cmd.longitudinal.acceleration =
-        std::max(prev_cmd.longitudinal.acceleration, current_status_cmd.longitudinal.acceleration);
-      // consider reverse driving
-      prev_cmd.longitudinal.velocity = std::fabs(prev_cmd.longitudinal.velocity) >
-                                           std::fabs(current_status_cmd.longitudinal.velocity)
-                                         ? prev_cmd.longitudinal.velocity
-                                         : current_status_cmd.longitudinal.velocity;
-      filter_.setPrevCmd(prev_cmd);
-    }
     filter_.filterAll(dt, current_steer_, out, is_filter_activated);
   }