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Lateral MPC is undershooting future predicted plan
See original GitHub issueIt seems the lateral MPC’s plan is not very accurate when compared to the actual future plan in steerActuatorDelay seconds. We can’t interpolate the lateral plan to 100 Hz until this is fixed, but I’ll look into it some more and confirm it’s a real issue. Closing https://github.com/commaai/openpilot/pull/23788 until it doesn’t cause oscillations.
Longitudinal:
Lateral:
Issue Analytics
- State:
- Created 2 years ago
- Comments:6 (6 by maintainers)
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Yup, I compared now + 0.2 seconds vs. the actual plan in 0.2 seconds
Well I assume so since we can’t interpolate the plan to 100Hz. However I haven’t confirmed that it’s an issue recently, so if anyone doesn’t do that, I’ll check in the next few weeks