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update readme
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Signed-off-by: oguzkaganozt <[email protected]>
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oguzkaganozt committed Apr 3, 2024
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89 changes: 4 additions & 85 deletions control/pid_longitudinal_controller/README.md
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Expand Up @@ -165,99 +165,18 @@ Then, the velocity can be calculated by providing the current error and time ste
The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the
AutonomouStuff Lexus RX 450h for under 40 km/h driving.

| Name | Type | Description | Default value |
| :------------------------------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| delay_compensation_time | double | delay for longitudinal control [s] | 0.17 |
| enable_smooth_stop | bool | flag to enable transition to STOPPING | true |
| enable_overshoot_emergency | bool | flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`. | true |
| enable_large_tracking_error_emergency | bool | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose. | true |
| enable_slope_compensation | bool | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See `use_trajectory_for_pitch_calculation`. | true |
| enable_brake_keeping_before_stop | bool | flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping](#brake-keeping). | false |
| enable_keep_stopped_until_steer_convergence | bool | flag to keep stopped condition until until the steer converges. | true |
| max_acc | double | max value of output acceleration [m/s^2] | 3.0 |
| min_acc | double | min value of output acceleration [m/s^2] | -5.0 |
| max_jerk | double | max value of jerk of output acceleration [m/s^3] | 2.0 |
| min_jerk | double | min value of jerk of output acceleration [m/s^3] | -5.0 |
| use_trajectory_for_pitch_calculation \*\*\* | bool | If true, the slope is estimated from trajectory z-level. Otherwise the pitch angle of the ego pose is used. | false |
| lpf_pitch_gain | double | gain of low-pass filter for pitch estimation | 0.95 |
| max_pitch_rad | double | max value of estimated pitch [rad] | 0.1 |
| min_pitch_rad | double | min value of estimated pitch [rad] | -0.1 |

### State transition

| Name | Type | Description | Default value |
| :---------------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| drive_state_stop_dist | double | 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] | 0.5 |
| drive_state_offset_stop_dist | double | 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] | 1.0 |
| stopping_state_stop_dist | double | The state will transit to STOPPING when the distance to the stop point is shorter than `stopping_state_stop_dist` [m] | 0.5 |
| stopped_state_entry_vel | double | threshold of the ego velocity in transition to the STOPPED state [m/s] | 0.01 |
| stopped_state_entry_acc | double | threshold of the ego acceleration in transition to the STOPPED state [m/s^2] | 0.1 |
| emergency_state_overshoot_stop_dist | double | 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] | 1.5 |
| emergency_state_traj_trans_dev | double | If the ego's position is `emergency_state_traj_tran_dev` meter away from the nearest trajectory point, the state will transit to EMERGENCY. [m] | 3.0 |
| emergency_state_traj_rot_dev | double | 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] | 0.784 |

### DRIVE Parameter

| Name | Type | Description | Default value |
| :------------------------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| kp | double | p gain for longitudinal control | 1.0 |
| ki | double | i gain for longitudinal control | 0.1 |
| kd | double | d gain for longitudinal control | 0.0 |
| max_out | double | max value of PID's output acceleration during DRIVE state [m/s^2] | 1.0 |
| min_out | double | min value of PID's output acceleration during DRIVE state [m/s^2] | -1.0 |
| max_p_effort | double | max value of acceleration with p gain | 1.0 |
| min_p_effort | double | min value of acceleration with p gain | -1.0 |
| max_i_effort | double | max value of acceleration with i gain | 0.3 |
| min_i_effort | double | min value of acceleration with i gain | -0.3 |
| max_d_effort | double | max value of acceleration with d gain | 0.0 |
| min_d_effort | double | min value of acceleration with d gain | 0.0 |
| lpf_vel_error_gain | double | gain of low-pass filter for velocity error | 0.9 |
| enable_integration_at_low_speed | bool | Whether to enable integration of acceleration errors when the vehicle speed is lower than `current_vel_threshold_pid_integration` or not. |
| current_vel_threshold_pid_integration | double | Velocity error is integrated for I-term only when the absolute value of current velocity is larger than this parameter. [m/s] |
| time_threshold_before_pid_integration | double | How much time without the vehicle moving must past to enable PID error integration. [s] | 5.0 |
| brake_keeping_acc | double | 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](#brake-keeping). | 0.2 |

### STOPPING Parameter (smooth stop)

Smooth stop is enabled if `enable_smooth_stop` is true.

> **STOPPING Parameter (smooth stop)** is enabled if `enable_smooth_stop` is true.
In smooth stop, strong acceleration (`strong_acc`) will be output first to decrease the ego velocity.
Then weak acceleration (`weak_acc`) will be output to stop smoothly by decreasing the ego jerk.
If the ego does not stop in a certain time or some-meter over the stop point, weak acceleration to stop right (`weak_stop_acc`) now will be output.
If the ego is still running, strong acceleration (`strong_stop_acc`) to stop right now will be output.

| Name | Type | Description | Default value |
| :--------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
| smooth_stop_max_strong_acc | double | max strong acceleration [m/s^2] | -0.5 |
| smooth_stop_min_strong_acc | double | min strong acceleration [m/s^2] | -0.8 |
| smooth_stop_weak_acc | double | weak acceleration [m/s^2] | -0.3 |
| smooth_stop_weak_stop_acc | double | weak acceleration to stop right now [m/s^2] | -0.8 |
| smooth_stop_strong_stop_acc | double | strong acceleration to be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m/s^2] | -3.4 |
| smooth_stop_max_fast_vel | double | max fast vel to judge the ego is running fast [m/s]. If the ego is running fast, strong acceleration will be output. | 0.5 |
| smooth_stop_min_running_vel | double | min ego velocity to judge if the ego is running or not [m/s] | 0.01 |
| smooth_stop_min_running_acc | double | min ego acceleration to judge if the ego is running or not [m/s^2] | 0.01 |
| smooth_stop_weak_stop_time | double | max time to output weak acceleration [s]. After this, strong acceleration will be output. | 0.8 |
| smooth_stop_weak_stop_dist | double | Weak acceleration will be output when the ego is `smooth_stop_weak_stop_dist`-meter before the stop point. [m] | -0.3 |
| smooth_stop_strong_stop_dist | double | Strong acceleration will be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m] | -0.5 |

### STOPPED Parameter

The `STOPPED` state assumes that the vehicle is completely stopped with the brakes fully applied.
> **The `STOPPED` state** assumes that the vehicle is completely stopped with the brakes fully applied.
Therefore, `stopped_acc` should be set to a value that allows the vehicle to apply the strongest possible brake.
If `stopped_acc` is not sufficiently low, there is a possibility of sliding down on steep slopes.

| Name | Type | Description | Default value |
| :----------- | :----- | :------------------------------------------- | :------------ |
| stopped_vel | double | target velocity in STOPPED state [m/s] | 0.0 |
| stopped_acc | double | target acceleration in STOPPED state [m/s^2] | -3.4 |
| stopped_jerk | double | target jerk in STOPPED state [m/s^3] | -5.0 |

### EMERGENCY Parameter

| Name | Type | Description | Default value |
| :------------- | :----- | :------------------------------------------------ | :------------ |
| emergency_vel | double | target velocity in EMERGENCY state [m/s] | 0.0 |
| emergency_acc | double | target acceleration in an EMERGENCY state [m/s^2] | -5.0 |
| emergency_jerk | double | target jerk in an EMERGENCY state [m/s^3] | -3.0 |
{{ json_to_markdown("control/pid_longitudinal_controller/schema/pid_longitudinal_controller.schema.json") }}

## References / External links

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2 changes: 1 addition & 1 deletion control/pid_longitudinal_controller/schema/pid_longitudinal_controller.schema.json
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"default": "-0.1"
}
},
"required": ["INSERT_PARAMETER_1_NAME", "INSERT_PARAMETER_N_NAME"],
"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_tran_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", "lpf_pitch_gain", "slope_source", "adaptive_trajectory_velocity_th", "max_pitch_rad", "min_pitch_rad"],
"additionalProperties": false
}
},
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