fix(autoware_mpc_lateral_controller): relax the steering rate constra…

…int at zero speed (#7581) * constraint for zero velocity updated Signed-off-by: Zhe Shen <[email protected]> * correct the comment Signed-off-by: Zhe Shen <[email protected]> --------- Signed-off-by: Zhe Shen <[email protected]>
autowarefoundation · Jun 21, 2024 · eb00776 · eb00776
1 parent e90d356
commit eb00776
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -766,9 +766,10 @@ VectorXd MPC::calcSteerRateLimitOnTrajectory(
   };
 
   // when the vehicle is stopped, no steering rate limit.
+  constexpr double steer_rate_lim = 5.0;
   const bool is_vehicle_stopped = std::fabs(current_velocity) < 0.01;
   if (is_vehicle_stopped) {
-    return VectorXd::Zero(m_param.prediction_horizon);
+    return steer_rate_lim * VectorXd::Ones(m_param.prediction_horizon);
   }
 
   // calculate steering rate limit