Feature/4ws model for mpc #3941
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This reverts commit 03409d5.
if you want to use 4ws model for mpc, please modify file mpc.param.yaml which locale in autoware_launch module, beause the param is loaded from there, it's content is same as lateral_controller_defaults.param.yaml
add an option ‘IDEAL_STEER_VEL_FOR_4WS’ for source code and some cpp file for model. if you want run it successfully, please modify simulator_model.param.yaml which locale in pixkit_launch/pixkit_description/config, there is ‘vehicle_model_type’ option and fill in as IDEAL_STEER_VEL_FOR_4WS, because the param loaded from there
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This pull request has been automatically marked as stale because it has not had recent activity. |
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Hello, if the vehicle control model uses four-wheel mode, will it affect the accuracy of positioning? |
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@shaoniandujianyiqingqiu yes, the EKF localizer considers that the vehicle has no slip angle(beta) at base_link, which mean vy=0. |
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Description
Add new vehicle model called four wheel steering model for mpc algorithm
Related links
Tests performed
Due to different vehicle models having varying minimum turning radii, typically, four-wheel steering models have a smaller turning radius compared to front-wheel steering models. A corresponding map is created based on the minimum turning radius of the current four-wheel steering model to test the performance of both models on that map. Based on the expected results, the four-wheel steering vehicles are expected to pass the test smoothly on that map, while the front-wheel steering vehicles may face difficulties passing the test or may not perform as well.
Notes for reviewers
i hope to new branhc called feature/4ws for four wheel steering model. so that enable collaboration with other developers
Interface changes
To add the optional parameter "kinematics_4ws_no_delay" to the "vehicle_model_type" in the "mpc_lateral_controller" file
Effects on system behavior
I have provided a new vehicle model to the system.
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