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chore: sync awf/autoware_launch #188

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merged 2 commits into from
Jun 21, 2023
Merged

chore: sync awf/autoware_launch #188

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61fafb7
feat(start_planner): change lateral acceleration sampling num (#404)
kosuke55 Jun 20, 2023
e6be9a3
fix(mpc): relax steering rate limit (#405)
TakaHoribe Jun 20, 2023
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4 changes: 2 additions & 2 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 @@ -47,9 +47,9 @@
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_list_by_curvature: [10.0, 20.0, 30.0] # steering angle rate limit list depending on curvature [deg/s]
steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s]
curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m]
steer_rate_lim_dps_list_by_velocity: [40.0, 30.0, 20.0] # steering angle rate limit list depending on velocity [deg/s]
steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s]
velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0] # velocity list for steering angle rate limit interpolation in ascending order [m/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]
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2 changes: 1 addition & 1 deletion ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -12,7 +12,7 @@
minimum_shift_pull_out_distance: 0.0
deceleration_interval: 15.0
lateral_jerk: 0.5
lateral_acceleration_sampling_num: 1
lateral_acceleration_sampling_num: 3
minimum_lateral_acc: 0.15
maximum_lateral_acc: 0.5
# geometric pull out
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