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refactor(control/pid_longitudinal_controller): rework parameters (#6707)
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* reset and re-apply refactoring

Signed-off-by: Oguz <[email protected]>

* style(pre-commit): autofix

* .

Signed-off-by: Oguz Ozturk <[email protected]>

* .

Signed-off-by: Oguz Ozturk <[email protected]>

---------

Signed-off-by: Oguz <[email protected]>
Signed-off-by: Oguz Ozturk <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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oguzkaganozt and pre-commit-ci[bot] authored Aug 21, 2024
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2 changes: 1 addition & 1 deletion control/autoware_pid_longitudinal_controller/CMakeLists.txt
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Expand Up @@ -22,5 +22,5 @@ endif()

ament_auto_package(
INSTALL_TO_SHARE
param
config
)
1 change: 1 addition & 0 deletions ...ngitudinal_controller_defaults.param.yaml → ...re_pid_longitudinal_controller.param.yaml
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Expand Up @@ -54,6 +54,7 @@
# stopped state
stopped_vel: 0.0
stopped_acc: -3.4 # denotes pedal position
stopped_jerk: -5.0

# emergency state
emergency_vel: 0.0
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383 changes: 383 additions & 0 deletions ...oware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_pid_longitudinal_controller parameters",
"type": "object",
"definitions": {
"autoware_pid_longitudinal_controller": {
"type": "object",
"properties": {
"delay_compensation_time": {
"type": "number",
"description": "delay for longitudinal control [s]",
"default": "0.17"
},
"enable_smooth_stop": {
"type": "boolean",
"description": "flag to enable transition to STOPPING",
"default": "true"
},
"enable_overshoot_emergency": {
"type": "boolean",
"description": "flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`",
"default": "true"
},
"enable_large_tracking_error_emergency": {
"type": "boolean",
"description": "flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose",
"default": "true"
},
"enable_slope_compensation": {
"type": "boolean",
"description": "flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle",
"default": "true"
},
"enable_keep_stopped_until_steer_convergence": {
"type": "boolean",
"description": "flag to keep stopped condition until until the steer converges",
"default": "true"
},
"drive_state_stop_dist": {
"type": "number",
"description": "The state will transit to DRIVE when the distance to the stop point is longer than `drive_state_stop_dist` + `drive_state_offset_stop_dist` [m]",
"default": "0.5"
},
"drive_state_offset_stop_dist": {
"type": "number",
"description": "The state will transit to DRIVE when the distance to the stop point is longer than `drive_state_stop_dist` + `drive_state_offset_stop_dist` [m]",
"default": "1.0"
},
"stopping_state_stop_dist": {
"type": "number",
"description": "The state will transit to STOPPING when the distance to the stop point is shorter than `stopping_state_stop_dist` [m]",
"default": "0.5"
},
"stopped_state_entry_duration_time": {
"type": "number",
"description": "threshold of the ego velocity in transition to the STOPPED state [s]",
"default": "0.1"
},
"stopped_state_entry_vel": {
"type": "number",
"description": "threshold of the ego velocity in transition to the STOPPED state [m/s]",
"default": "0.01"
},
"stopped_state_entry_acc": {
"type": "number",
"description": "threshold of the ego acceleration in transition to the STOPPED state [m/s^2]",
"default": "0.1"
},
"emergency_state_overshoot_stop_dist": {
"type": "number",
"description": "If `enable_overshoot_emergency` is true and the ego is `emergency_state_overshoot_stop_dist`-meter ahead of the stop point, the state will transit to EMERGENCY. [m]",
"default": "1.5"
},
"emergency_state_traj_trans_dev": {
"type": "number",
"description": "If the ego's position is `emergency_state_traj_trans_dev` meter away from the nearest trajectory point, the state will transit to EMERGENCY. [m]",
"default": "3.0"
},
"emergency_state_traj_rot_dev": {
"type": "number",
"description": "If the ego's orientation is `emergency_state_traj_rot_dev` rad away from the nearest trajectory point orientation, the state will transit to EMERGENCY. [rad]",
"default": "0.7854"
},
"kp": {
"type": "number",
"description": "p gain for longitudinal control",
"default": "1.0"
},
"ki": {
"type": "number",
"description": "i gain for longitudinal control",
"default": "0.1"
},
"kd": {
"type": "number",
"description": "d gain for longitudinal control",
"default": "0.0"
},
"max_out": {
"type": "number",
"description": "max value of PID's output acceleration during DRIVE state [m/s^2]",
"default": "1.0"
},
"min_out": {
"type": "number",
"description": "min value of PID's output acceleration during DRIVE state [m/s^2]",
"default": "-1.0"
},
"max_p_effort": {
"type": "number",
"description": "max value of acceleration with p gain",
"default": "1.0"
},
"min_p_effort": {
"type": "number",
"description": "min value of acceleration with p gain",
"default": "-1.0"
},
"max_i_effort": {
"type": "number",
"description": "max value of acceleration with i gain ",
"default": "0.3"
},
"min_i_effort": {
"type": "number",
"description": "min value of acceleration with i gain",
"default": "-0.3"
},
"max_d_effort": {
"type": "number",
"description": "max value of acceleration with d gain",
"default": "0.0"
},
"min_d_effort": {
"type": "number",
"description": "min value of acceleration with d gain ",
"default": "0.0"
},
"lpf_vel_error_gain": {
"type": "number",
"description": "gain of low-pass filter for velocity",
"default": "0.9"
},
"enable_integration_at_low_speed": {
"type": "boolean",
"description": "Whether to enable integration of acceleration errors when the vehicle speed is lower than `current_vel_threshold_pid_integration` or not.",
"default": "false"
},
"current_vel_threshold_pid_integration": {
"type": "number",
"description": "Velocity error is integrated for I-term only when the absolute value of current velocity is larger than this parameter. [m/s]",
"default": "0.5"
},
"time_threshold_before_pid_integration": {
"type": "number",
"description": "How much time without the vehicle moving must past to enable PID error integration. [s]",
"default": "2.0"
},
"enable_brake_keeping_before_stop": {
"type": "boolean",
"description": "flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping]",
"default": "false"
},
"brake_keeping_acc": {
"type": "number",
"description": "If `enable_brake_keeping_before_stop` is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See [Brake keeping]",
"default": "-0.2"
},
"smooth_stop_max_strong_acc": {
"type": "number",
"description": "max strong acceleration [m/s^2]",
"default": "-0.5"
},
"smooth_stop_min_strong_acc": {
"type": "number",
"description": "min strong acceleration [m/s^2]",
"default": "-0.8"
},
"smooth_stop_weak_acc": {
"type": "number",
"description": "weak acceleration [m/s^2]",
"default": "-0.3"
},
"smooth_stop_weak_stop_acc": {
"type": "number",
"description": "weak acceleration to stop right now [m/s^2]",
"default": "-0.8"
},
"smooth_stop_strong_stop_acc": {
"type": "number",
"description": "strong acceleration to be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m/s^2]",
"default": "-3.4"
},
"smooth_stop_max_fast_vel": {
"type": "number",
"description": "max fast vel to judge the ego is running fast [m/s]. If the ego is running fast, strong acceleration will be output.",
"default": "0.5"
},
"smooth_stop_min_running_vel": {
"type": "number",
"description": "min ego velocity to judge if the ego is running or not [m/s]",
"default": "0.01"
},
"smooth_stop_min_running_acc": {
"type": "number",
"description": "min ego acceleration to judge if the ego is running or not [m/s^2]",
"default": "0.01"
},
"smooth_stop_weak_stop_time": {
"type": "number",
"description": "max time to output weak acceleration [s]. After this, strong acceleration will be output.",
"default": "0.8"
},
"smooth_stop_weak_stop_dist": {
"type": "number",
"description": "Weak acceleration will be output when the ego is `smooth_stop_weak_stop_dist`-meter before the stop point. [m]",
"default": "-0.3"
},
"smooth_stop_strong_stop_dist": {
"type": "number",
"description": "Strong acceleration will be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m]",
"default": "-0.5"
},
"stopped_vel": {
"type": "number",
"description": "target velocity in STOPPED state [m/s]",
"default": "0.0"
},
"stopped_acc": {
"type": "number",
"description": "target acceleration in STOPPED state [m/s^2]",
"default": "-3.4"
},
"stopped_jerk": {
"type": "number",
"description": "target jerk in STOPPED state [m/s^3]",
"default": "-5.0"
},
"emergency_vel": {
"type": "number",
"description": "target velocity in EMERGENCY state [m/s]",
"default": "0.00"
},
"emergency_acc": {
"type": "number",
"description": "target acceleration in an EMERGENCY state [m/s^2]",
"default": "-5.0"
},
"emergency_jerk": {
"type": "number",
"description": "target jerk in an EMERGENCY state [m/s^3]",
"default": "-3.0"
},
"max_acc": {
"type": "number",
"description": "max value of output acceleration [m/s^2]",
"default": "3.0"
},
"min_acc": {
"type": "number",
"description": "min value of output acceleration [m/s^2]",
"default": "-5.0"
},
"max_jerk": {
"type": "number",
"description": "max value of jerk of output acceleration [m/s^3]",
"default": "2.0"
},
"min_jerk": {
"type": "number",
"description": "min value of jerk of output acceleration [m/s^3]",
"default": "-5.0"
},
"max_acc_cmd_diff": {
"type": "number",
"description": "max difference between the current and previous acceleration command [m/s^2 * s^-1]",
"default": "50"
},
"lpf_pitch_gain": {
"type": "number",
"description": "gain of low-pass filter for pitch estimation",
"default": "0.95"
},
"slope_source": {
"type": "string",
"description": "source of slope angle.",
"default": "raw_pitch"
},
"adaptive_trajectory_velocity_th": {
"type": "number",
"description": "threshold of the ego velocity to use adaptive trajectory velocity [m/s]",
"default": "1.0"
},
"max_pitch_rad": {
"type": "number",
"description": "max value of estimated pitch [rad]",
"default": "0.1"
},
"min_pitch_rad": {
"type": "number",
"description": "min value of estimated pitch [rad]",
"default": "-0.1"
}
},
"required": [
"delay_compensation_time",
"enable_smooth_stop",
"enable_overshoot_emergency",
"enable_large_tracking_error_emergency",
"enable_slope_compensation",
"enable_keep_stopped_until_steer_convergence",
"drive_state_stop_dist",
"drive_state_offset_stop_dist",
"stopping_state_stop_dist",
"stopped_state_entry_duration_time",
"stopped_state_entry_vel",
"stopped_state_entry_acc",
"emergency_state_overshoot_stop_dist",
"emergency_state_traj_trans_dev",
"emergency_state_traj_rot_dev",
"kp",
"ki",
"kd",
"max_out",
"min_out",
"max_p_effort",
"min_p_effort",
"max_i_effort",
"min_i_effort",
"max_d_effort",
"min_d_effort",
"lpf_vel_error_gain",
"enable_integration_at_low_speed",
"current_vel_threshold_pid_integration",
"time_threshold_before_pid_integration",
"enable_brake_keeping_before_stop",
"brake_keeping_acc",
"smooth_stop_max_strong_acc",
"smooth_stop_min_strong_acc",
"smooth_stop_weak_acc",
"smooth_stop_weak_stop_acc",
"smooth_stop_strong_stop_acc",
"smooth_stop_max_fast_vel",
"smooth_stop_min_running_vel",
"smooth_stop_min_running_acc",
"smooth_stop_weak_stop_time",
"smooth_stop_weak_stop_dist",
"smooth_stop_strong_stop_dist",
"stopped_vel",
"stopped_acc",
"stopped_jerk",
"emergency_vel",
"emergency_acc",
"emergency_jerk",
"max_acc",
"min_acc",
"max_jerk",
"min_jerk",
"max_acc_cmd_diff",
"lpf_pitch_gain",
"slope_source",
"adaptive_trajectory_velocity_th",
"max_pitch_rad",
"min_pitch_rad"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/autoware_pid_longitudinal_controller"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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