Merge pull request #33 from tier4/fix/update-some-parameters

fix: update some parameters for xx1
tier4 · Apr 7, 2023 · 62faf22 · 62faf22
2 parents 49011d4 + 9e64dd5
commit 62faf22
Show file tree

Hide file tree

Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -45,10 +45,10 @@
 
     # -- 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: 0.3     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 40.0         # steering angle rate limit [deg/s]
-    acceleration_limit: 2.0          # acceleration limit for trajectory velocity modification [m/ss]
+    input_delay: 0.1                # steering input delay time for delay compensation
+    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]
 
     # -- lowpass filter for noise reduction --

diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.17
+    delay_compensation_time: 0.40
 
     enable_smooth_stop: true
     enable_overshoot_emergency: true

diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     stop_line:
-      stop_margin: 0.0
+      stop_margin: 1.4
       stop_check_dist: 2.0
       stop_duration_sec: 1.0
       use_initialization_stop_line_state: true

diff --git a/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     traffic_light:
-      stop_margin: 0.0
+      stop_margin: 2.0
       tl_state_timeout: 1.0
       external_tl_state_timeout: 1.0
       yellow_lamp_period: 2.75