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MPC controller full stop condition error #15648

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ycraurora opened this issue Feb 14, 2025 · 1 comment

ycraurora commented Feb 14, 2025 •

edited

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Full stop condition judgement in mpc_controller.cc [here] in Apollo 10.0.1

if (std::abs(debug->path_remain()) < FLAGS_max_acceleration_when_stopped) {
  debug->set_is_full_stop(true);
  ADEBUG << "Into full stop within path remain, "
         << "is_full_stop is " << debug->is_full_stop();
}

should be

if (std::abs(debug->path_remain()) < FLAGS_max_path_remain_when_stopped) { // corrected
  debug->set_is_full_stop(true);
  ADEBUG << "Into full stop within path remain, "
         << "is_full_stop is " << debug->is_full_stop();
}

The text was updated successfully, but these errors were encountered:

Contributor

hearto1314 commented Feb 17, 2025

Got，thx for your feedback ~

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