diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 688e650de1..87d9bf0868 100644 --- 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 index 6e89a18e06..b3600f1477 100644 --- 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]