update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Apr 7, 2023 · 9e64dd5 · 9e64dd5
1 parent c7d75cd
commit 9e64dd5
Showing 1 changed file with 3 additions and 3 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
@@ -46,9 +46,9 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                # 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]
+    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 --