fix(control_launch): change default mpc param to improve performance (t…

…ier4#667) Signed-off-by: Takamasa Horibe <[email protected]>
boyali · Oct 3, 2022 · 8778cee · 8778cee
1 parent 95a351d
commit 8778cee
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
@@ -44,8 +44,8 @@
     # -- vehicle model --
     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: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_lim_deg: 20.0              # steering angle limit [deg]
+    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    steer_lim_deg: 40.0              # steering angle limit [deg]
     steer_rate_lim_dps: 600.0        # steering angle rate limit [deg/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]