feat(tier4_control_launch): disable the trajectory extension #866
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Signed-off-by: Zhe Shen <[email protected]>
takayuki5168
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Feb 9, 2024
This was referenced Feb 15, 2024
yuki-takagi-66
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Jul 3, 2024
…pc (autowarefoundation#867) fix: use vanilla mpc params
yuki-takagi-66
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Jul 3, 2024
…anilla_mpc (autowarefoundation#867)" This reverts commit 7629540.
yuki-takagi-66
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Jul 3, 2024
…erry_pick_mpc fix: revert "chore: merge pull request autowarefoundation#866 from tier4/dm/use_vanilla_mpc"
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Description
The original MPC can cause the unreasonable predicted trajectory.
For example, the following results are witnessed:
Screencast.from.02-09-2024.12.47.41.PM.webm
Screencast.from.02-08-2024.04_09_53.PM.webm
This is because that the original planned path is extended, making the MPC to track the unreasonable trajectory, especially near the end point of the planned path.
Therefore, this pull request disables this function in the path plan, the trajectory extension, in specific.
By doing so, this aggressive and unreasonable result in the MPC is avoided.
Related links
https://tier4.atlassian.net/browse/RT1-5172
Tests performed
Screencast.from.02-09-2024.12.43.20.PM.webm
Interface changes
Effects on system behavior
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