From a9c13f974b76483f5185da843cd6d8748095d4ab Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 27 Jun 2024 17:51:21 +0900 Subject: [PATCH 1/3] change param Signed-off-by: Yuki Takagi --- .../vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) 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] From 0ea09ef69d28ae24a618c824c42735c58eff91e3 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 24 Jul 2024 16:52:41 +0900 Subject: [PATCH 2/3] change pid long con params Signed-off-by: Yuki Takagi --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 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 index 688e650de1..39dc99e7a6 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 @@ -68,6 +67,7 @@ # jerk limit max_jerk: 2.0 min_jerk: -30.0 + max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1] # slope compensation # pitch From d398b9b946a5c5149f5a974d7be6f01aa213780a Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 24 Jul 2024 17:52:44 +0900 Subject: [PATCH 3/3] change max pitch Signed-off-by: Yuki Takagi --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 index 39dc99e7a6..87d9bf0868 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -74,5 +74,5 @@ 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