Collision prevention velocity limitations also based on max accel/jerk #12824
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jkflying
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SITL tests looked fine. But it seems we have some more general issues with the collision prevention right now. Even master breaks way too late. We should probably investigate what changed first |
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Issues fixed, they were on the avoidance side. We flew this PR today, it did not significantly improve the behavior but there was also no regression. I would be fine with merging it as it is the theoretically correct thing to do. |
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Describe problem solved by the proposed pull request
Until now the collision prevention assumed that the vehicle could follow the tuning of the velocity controller. However, it is possible to have a tightly tuned velocity controller, with a very limiting max jerk/accel on top.
Describe your preferred solution
The Collision prevention now takes the more conservative of the tuning parameters (both smooth and non-smooth) when limiting velocity for a given braking distance. It uses the same method as the smooth auto velocity controller to limit speeds given available braking distances.
@baumanta could you please SITL test
@bresch FYI
Todo: