Merge pull request autowarefoundation#711 from tier4/bv31+slope

feat(pid_long, vehicle_cmd_gate)!: quick pedal change
tier4 · Jul 25, 2024 · 4b7acb7 · 4b7acb7
2 parents 178508a + d398b9b
commit 4b7acb7
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 13 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -53,12 +53,11 @@
 
     # stopped state
     stopped_vel: 0.0
-    stopped_acc: -3.4
-    stopped_jerk: -5.0
+    stopped_acc: -3.4 # denotes pedal position
 
     # emergency state
     emergency_vel: 0.0
-    emergency_acc: -2.5
+    emergency_acc: -2.5 # denotes acceleration
     emergency_jerk: -1.5
 
     # acceleration limit
@@ -68,11 +67,12 @@
     # jerk limit
     max_jerk: 2.0
     min_jerk: -30.0
+    max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]
 
     # slope compensation
     # pitch
     lpf_pitch_gain: 0.95
     slope_source: "trajectory_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
     adaptive_trajectory_velocity_th: 1.0
-    max_pitch_rad: 0.1
-    min_pitch_rad: -0.1
+    max_pitch_rad: 0.15
+    min_pitch_rad: -0.15
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -16,14 +16,14 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      reference_speed_points: [20.0, 30.0]
-      steer_lim: [1.0, 0.8]
-      steer_rate_lim: [1.0, 0.8]
-      lon_acc_lim: [6.0, 6.0]
-      lon_jerk_lim: [30.0, 30.0]
-      lat_acc_lim: [5.0, 4.0]
-      lat_jerk_lim: [7.0, 6.0]
-      actual_steer_diff_lim: [1.0, 0.8]
+      reference_speed_points: [0.1, 0.2, 20.0, 30.0]
+      steer_lim: [1.0, 1.0, 1.0, 0.8]
+      steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
+      lon_acc_lim: [6.0, 6.0, 6.0, 6.0]
+      lon_jerk_lim: [80.0, 30.0, 30.0, 30.0]
+      lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]
     on_transition:
       vel_lim: 50.0
       reference_speed_points: [20.0, 30.0]