From 0a2e990de689a59039759f6e611f8c563102d8f2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 2 Jun 2023 18:28:46 +0900 Subject: [PATCH 1/3] feat(autoware_launch): dynamic steer rate limit in mpc Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/lateral/mpc.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 678544d4bf..572b8fab77 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -47,7 +47,10 @@ 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] + steer_rate_lim_dps_list_by_curvature: [20.0, 40.0] # steering angle rate limit list depending on curvature [deg/s] + curvature_list_for_steer_rate_lim: [0.001, 0.01] # curvature list for steering angle rate limit interpolation [/m] + steer_rate_lim_dps_list_by_velocity: [20.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] + velocity_list_for_steer_rate_lim: [1.0, 3.0] # velocity list for steering angle rate limit interpolation [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] From fc9bf51045915da7c248f40cbda0149ccebd0fb5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 5 Jun 2023 13:11:44 +0900 Subject: [PATCH 2/3] update Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/lateral/mpc.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 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 index 572b8fab77..e9afe5da90 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -47,10 +47,10 @@ 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: [20.0, 40.0] # steering angle rate limit list depending on curvature [deg/s] - curvature_list_for_steer_rate_lim: [0.001, 0.01] # curvature list for steering angle rate limit interpolation [/m] - steer_rate_lim_dps_list_by_velocity: [20.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] - velocity_list_for_steer_rate_lim: [1.0, 3.0] # velocity list for steering angle rate limit interpolation [m/s] + steer_rate_lim_dps_list_by_curvature: [10.0, 20.0, 30.0] # 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 [/m] + steer_rate_lim_dps_list_by_velocity: [40.0, 30.0, 20.0] # 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 [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] From dd44a9ca9a977cc6a1a1c6fc2daa58f5438d7c81 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 5 Jun 2023 13:23:22 +0900 Subject: [PATCH 3/3] update Signed-off-by: Takayuki Murooka --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 index e9afe5da90..538224cf2b 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -48,9 +48,9 @@ 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] - curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation [/m] + 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] - velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0] # velocity list for steering angle rate limit interpolation [m/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]