update parameter (autowarefoundation#169)

TomohitoAndo · Jan 19, 2022 · 5233b9d · 5233b9d
1 parent 94cdbe4
commit 5233b9d
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/control_launch/config/trajectory_follower/lateral_controller.param.yaml b/control_launch/config/trajectory_follower/lateral_controller.param.yaml
@@ -44,8 +44,8 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_lim_deg: 20.0              # steering angle limit [deg]
+    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    steer_lim_deg: 40.0              # steering angle limit [deg]
     steer_rate_lim_dps: 600.0        # steering angle rate limit [deg/s]
     acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -5,17 +5,17 @@
 
     enable_smooth_stop: true
     enable_overshoot_emergency: true
-    enable_slope_compensation: false
+    enable_slope_compensation: true
 
     # state transition
     drive_state_stop_dist: 0.5
     drive_state_offset_stop_dist: 1.0
-    stopping_state_stop_dist: 0.49
-    stopped_state_entry_vel: 0.1
+    stopping_state_stop_dist: 0.5
+    stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
     emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7
+    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0
@@ -36,7 +36,7 @@
 
     # smooth stop state
     smooth_stop_max_strong_acc: -0.5
-    smooth_stop_min_strong_acc: -1.0
+    smooth_stop_min_strong_acc: -0.8
     smooth_stop_weak_acc: -0.3
     smooth_stop_weak_stop_acc: -0.8
     smooth_stop_strong_stop_acc: -3.4