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chore: sync awf/autoware_launch #764

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Feb 8, 2023
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chore: sync awf/autoware_launch #764

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12 changes: 0 additions & 12 deletions autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -70,15 +70,3 @@
update_steer_threshold: 0.035
average_num: 1000
steering_offset_limit: 0.02

# vehicle parameters
vehicle:
cg_to_front_m: 1.228
cg_to_rear_m: 1.5618
mass_kg: 2400.0
mass_fl: 600.0
mass_fr: 600.0
mass_rl: 600.0
mass_rr: 600.0
cf: 155494.663
cr: 155494.663
10 changes: 5 additions & 5 deletions autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Expand Up @@ -5,19 +5,19 @@
enable_smooth_stop: true
enable_overshoot_emergency: true
enable_large_tracking_error_emergency: true
enable_slope_compensation: false
enable_slope_compensation: true
enable_keep_stopped_until_steer_convergence: true

# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.5
stopped_state_entry_duration_time: 0.1
stopped_state_entry_vel: 0.1
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
Expand All @@ -38,7 +38,7 @@

# 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
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2 changes: 2 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -6,6 +6,8 @@
resample_interval_for_output: 4.0 # [m]
detection_area_right_expand_dist: 0.0 # [m]
detection_area_left_expand_dist: 1.0 # [m]
drivable_area_right_bound_offset: 0.0 # [m]
drivable_area_left_bound_offset: 0.0 # [m]
object_envelope_buffer: 0.3 # [m]

# avoidance module common setting
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