Change planning and control parameters for vehicle 4 (#149) (#150)

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
tier4 · Oct 8, 2021 · 1011fa5 · 1011fa5
1 parent 8aa795e
commit 1011fa5
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/control_launch/config/mpc_follower/4/mpc_follower.param.yaml b/control_launch/config/mpc_follower/4/mpc_follower.param.yaml
@@ -19,7 +19,7 @@
     qp_solver_type: "osqp"                       # optimization solver type. option is unconstraint_fast, unconstraint, and qpoases_hotstart and osqp
     mpc_prediction_horizon: 50                   # prediction horizon step
     mpc_prediction_dt: 0.1                       # prediction horizon period [s]
-    mpc_weight_lat_error: 0.05                   # lateral error weight in matrix Q
+    mpc_weight_lat_error: 0.2                    # lateral error weight in matrix Q
     mpc_weight_heading_error: 0.0                # heading error weight in matrix Q
     mpc_weight_heading_error_squared_vel: 0.03   # heading error * velocity weight in matrix Q
     mpc_weight_steering_input: 1.0               # steering error weight in matrix R

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -11,7 +11,7 @@
       threshold_speed_object_is_stopped: 1.0      # [m/s]
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
-      lateral_collision_margin: 2.0               # [m]
+      lateral_collision_margin: 1.8               # [m]
 
       prepare_time: 2.0                           # [s]
       min_prepare_distance: 1.0                   # [m]