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pre-commit-ci[bot] committed Nov 11, 2023
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Expand Up @@ -160,22 +160,22 @@ Then, the velocity can be calculated by providing the current error and time ste
The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the
AutonomouStuff Lexus RX 450h for under 40 km/h driving.

| Name | Type | Description | Default value |
| :------------------------------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| delay_compensation_time | double | delay for longitudinal control [s] | 0.17 |
| enable_smooth_stop | bool | flag to enable transition to STOPPING | true |
| enable_overshoot_emergency | bool | flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`. | true |
| enable_large_tracking_error_emergency | bool | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose. | true |
| enable_slope_compensation | bool | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See `use_trajectory_for_pitch_calculation`. | true |
| enable_brake_keeping_before_stop | bool | flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping](#brake-keeping). | false |
| max_acc | double | max value of output acceleration [m/s^2] | 3.0 |
| min_acc | double | min value of output acceleration [m/s^2] | -5.0 |
| max_jerk | double | max value of jerk of output acceleration [m/s^3] | 2.0 |
| min_jerk | double | min value of jerk of output acceleration [m/s^3] | -5.0 |
| use_trajectory_for_pitch_calculation | bool | If true, the slope is estimated from trajectory z-level. Otherwise the pitch angle of the ego pose is used. | false |
| lpf_pitch_gain | double | gain of low-pass filter for pitch estimation | 0.95 |
| max_pitch_rad | double | max value of estimated pitch [rad] | 0.1 |
| min_pitch_rad | double | min value of estimated pitch [rad] | -0.1 |
| Name | Type | Description | Default value |
| :------------------------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| delay_compensation_time | double | delay for longitudinal control [s] | 0.17 |
| enable_smooth_stop | bool | flag to enable transition to STOPPING | true |
| enable_overshoot_emergency | bool | flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`. | true |
| enable_large_tracking_error_emergency | bool | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose. | true |
| enable_slope_compensation | bool | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See `use_trajectory_for_pitch_calculation`. | true |
| enable_brake_keeping_before_stop | bool | flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping](#brake-keeping). | false |
| max_acc | double | max value of output acceleration [m/s^2] | 3.0 |
| min_acc | double | min value of output acceleration [m/s^2] | -5.0 |
| max_jerk | double | max value of jerk of output acceleration [m/s^3] | 2.0 |
| min_jerk | double | min value of jerk of output acceleration [m/s^3] | -5.0 |
| use_trajectory_for_pitch_calculation | bool | If true, the slope is estimated from trajectory z-level. Otherwise the pitch angle of the ego pose is used. | false |
| lpf_pitch_gain | double | gain of low-pass filter for pitch estimation | 0.95 |
| max_pitch_rad | double | max value of estimated pitch [rad] | 0.1 |
| min_pitch_rad | double | min value of estimated pitch [rad] | -0.1 |

### State transition

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