feat(planning_launch): add steering rate limit params (autowarefounda…

…tion#575) feat(planning_launch): add steering rate limit configs Signed-off-by: Makoto Kurihara <[email protected]> Signed-off-by: Makoto Kurihara <[email protected]>
TomohitoAndo · Nov 25, 2022 · 9dcccf6 · 9dcccf6
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
@@ -44,7 +44,7 @@
     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: 600.0        # steering angle rate limit [deg/s]
+    steer_rate_lim_dps: 40.0         # 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]
 

diff --git a/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -48,5 +48,11 @@
     post_sparse_resample_dt: 0.1             # resample time interval for sparse sampling [s]
     post_sparse_min_interval_distance: 1.0   # minimum points-interval length for sparse sampling [m]
 
+    # steering angle rate limit parameters
+    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    resample_ds: 0.1                         # distance between trajectory points [m]
+    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
+    curvature_calculation_distance: 1.0      # distance of points while curvature is calculating [m]
+
     # system
-    over_stop_velocity_warn_thr: 1.389  # used to check if the optimization exceeds the input velocity on the stop point
+    over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point