feat(simple_planning_simulator): add mechanical actuaion sim model

[kosuke55]

Description

Add new simulator model.

The vehicle side software assumes that it has limiters, PID controllers, power steering, etc. for the input.
The conversion in the power steering is approximated by a polynomial.
Steering Dynamics is a model that represents the motion of the tire angle when the Steering Torque is input. It is represented by the following formula.

system identification result is following. I tested real driving data and compare obeserved and simulated steering angle error (focusing on low steer angle)
Results are mecanical > second order > first order in that order for train and test data.

• mechanical model

python3 steering_system_rosbag.py  --csv_file odaiba.csv  -m simulate  -p low_angle_0.01.json
Total Error: 18.8549
Simulation completed in 0.4162 seconds.


{
    "parameters": {
        "kp": 385.32623432169896,
        "ki": 5.470220188865222,
        "kd": 0,
        "ff_gain": 0.030497566164202503,
        "angle_limit": 10.0,
        "rate_limit": 3.0,
        "dead_zone_threshold": 0.007076432767148246,
        "a": 0.17791229486165056,
        "b": -0.17173397419765798,
        "c": 1.5599789889825484,
        "d": 0.0025322564364858176,
        "e": -0.04499096271188731,
        "f": 0.20114575254773887,
        "g": -0.07439510952992096,
        "h": 0.19998353912585695,
        "inertia": 25.17888049060484,
        "damping": 116.69225778407515,
        "stiffness": 0.1758244980428317,
        "friction": 0.6563489952292717,
        "delay_time": 0.0
    },
    "cost": 191.41139399730702
}

• First order model (same to current model)

python3 steering_system_rosbag.py  --csv_file odaiba.csv -m simulate -t simple -p ./annealing_simple_20241021_091713/params/simple_low_angle_0.01_223.7725.json
Total Error: 22.3770
Simulation completed in 0.0679 seconds.

{
    "parameters": {
        "steer_time_delay": 0.18919629045102362,
        "steer_time_constant": 0.19977909286592008,
        "steer_dead_band": 0.0003349704841227525
    },
    "cost": 223.7725409755146
}

if tuning for deadzone

• second order model (not in simple planning simulator and this PR, but I tested)

$ python3 steering_system_rosbag.py  --csv_file odaiba.csv  -m simulate -t simple_second_order -p second_order_low_angle_0.01_211.7917.json
/home/kosuke55/.local/lib/python3.10/site-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
  warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
params: {'steer_time_delay': 0.0007710570453590305, 'mass': 10.864864924637185, 'damping': 30.190196862802175, 'stiffness': 58.34026384572137, 'steer_dead_band': 0.00030095624595404767}
Running simulation with initial parameters...
straight_error: 21.987723516478454
curve_error: 99.00222563388706
angle_rate_error: 0.03344426919210258
error_between_observed_and_input: 106.79344233642182
error_between_output_and_observed: 139.0445551692286
error_between_output_and_input: 201.27649476784683
Total Error: 21.9877
Simulation completed in 0.0601 seconds.

{
    "parameters": {
        "steer_time_delay": 0.0007710570453590305,
        "mass": 10.864864924637185,
        "damping": 30.190196862802175,
        "stiffness": 58.34026384572137,
        "steer_dead_band": 0.00030095624595404767
    },
    "cost": 211.79172486868381
}

Related links

Parent Issue:

• Link

How was this PR tested?

• psim

• add unit test

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 88.27362% with 36 lines in your changes missing coverage. Please review.

Project coverage is 29.38%. Comparing base (70b6f19) to head (f948fcd).
Report is 11 commits behind head on main.

Files with missing lines	Patch %	Lines
...planning_simulator/utils/mechanical_controller.cpp	86.06%	19 Missing and 4 partials ⚠️
...nning_simulator/simple_planning_simulator_core.cpp	84.61%	5 Missing and 3 partials ⚠️
...imulator/vehicle_model/sim_model_actuation_cmd.cpp	94.11%	4 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9252      +/-   ##
==========================================
+ Coverage   29.24%   29.38%   +0.13%     
==========================================
  Files        1335     1339       +4     
  Lines      102954   103218     +264     
  Branches    39937    40013      +76     
==========================================
+ Hits        30114    30329     +215     
- Misses      69920    69967      +47     
- Partials     2920     2922       +2     

Flag	Coverage Δ		*Carryforward flag
differential	27.92% <88.27%> (?)
total	29.21% <ø> (-0.04%)	⬇️	Carriedforward from 70b6f19

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[kosuke55]

I override update() and make own updateRungeKuttaWithController not to update internal state in PID and Mechanical Dynamics during rungge kutta.

  /**
   * @brief update vehicle states with controller
   * @details In updateRungeKutta, calcModel is called four times, but the internal state of PID and
   * Dynamics should not be updated. Therefore, a method is prepared to update the internal state
   * only once at the end without using the updateRungeKutta of the interface.
   */

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9252/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-9252/simulator/simple_planning_simulator/
• https://autowarefoundation.github.io/autoware.universe/pr-9252/simulator/simple_planning_simulator/actuation_cmd_sim/

[kosuke55]

move to #9300
(commit can be refrected and PR can not be reopened for some reason, I recreate PR again)