From 71773bc501265a611ddfe527deb403b5c93a3282 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 20 Dec 2023 21:03:56 +0900 Subject: [PATCH] docs(pid_longitudinal_controller): add the explanation of STOPPED parameter (#5916) Signed-off-by: Tomohito Ando --- control/pid_longitudinal_controller/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/control/pid_longitudinal_controller/README.md b/control/pid_longitudinal_controller/README.md index a110cb94d1d91..57eab2d87f18e 100644 --- a/control/pid_longitudinal_controller/README.md +++ b/control/pid_longitudinal_controller/README.md @@ -241,6 +241,10 @@ If the ego is still running, strong acceleration (`strong_stop_acc`) to stop rig ### STOPPED Parameter +The `STOPPED` state assumes that the vehicle is completely stopped with the brakes fully applied. +Therefore, `stopped_acc` should be set to a value that allows the vehicle to apply the strongest possible brake. +If `stopped_acc` is not sufficiently low, there is a possibility of sliding down on steep slopes. + | Name | Type | Description | Default value | | :----------- | :----- | :------------------------------------------- | :------------ | | stopped_vel | double | target velocity in STOPPED state [m/s] | 0.0 |