parameter tuning

booars · Oct 2, 2024 · 0f30e0b · 0f30e0b
1 parent 443d262
commit 0f30e0b
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Showing 10 changed files with 6,617 additions and 1,717 deletions.
diff --git a/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/...rkspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -4,7 +4,7 @@
     map_frame_id: "map"
     costmap_center_frame_id: "base_link"
     costmap_width: 50.0     # [m]
-    costmap_resolution: 0.2 # [m/cell]
+    costmap_resolution: 0.1 # [m/cell]
     multi_layered_costmap:
       layers:
         - "cached_lanelet_layer"
@@ -13,7 +13,7 @@
         type: "cached_lanelet"
         map_topic: "/map/vector_map"
         costmap_topic: "~/debug/cached_costmap"
-        inflation_radius: 1.8 # [m]
+        inflation_radius: 1.4 # [m]
         cached_costmap:
           min_x: 89607.0  # [m]
           max_x: 89687.0  # [m]

diff --git a/...lenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml b/...lenge/workspace/src/aichallenge_submit/booars_launch/config/planning/goal_pose.param.yaml
@@ -24,8 +24,9 @@
     pit_goal.orientation.z: -0.8788172006607056
     pit_goal.orientation.w: -0.47715866565704346
     # ゴールまでの距離がこの値以下になると次のゴールを配信する
-    goal_range: 30.0
+    goal_range: 10.0
     # ピットインを有効化するか
     enable_pit: true
     # このしきい値以下になるとピットイン
-    pit_in_threshold: 1000
+    # pit_in_threshold: 100
+    pit_in_threshold: 700
diff --git a/...workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/...workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
@@ -2,25 +2,25 @@
   ros__parameters:
       # mppi
       horizon : 25
-      num_samples : 3000
-      u_min : [-2.0, -0.35] # accel(m/s2), steer angle(rad)
-      u_max : [2.0, 0.35]
-      sigmas : [0.5, 0.25] # sample range
+      num_samples : 4000
+      u_min : [-4.0, -0.35] # accel(m/s2), steer angle(rad)
+      u_max : [3.0, 0.35]
+      sigmas : [2.0, 0.35] # sample range
       lambda : 1.0 
       auto_lambda : false
       # reference path
       DL : 0.1
       lookahead_distance : 0.1
       reference_path_interval : 0.8
       # cost weights
-      Qc : 20.0
+      Qc : 10.0
       Ql : 1.0
-      Qv : 2.0
-      Qo : 10000.0
+      Qv : 4.0
+      Qo : 1000.0
       Qin : 0.01
       Qdin : 0.5
       # model param
       delta_t : 0.1
-      vehicle_L : 1.0
-      V_MAX : 8.0
+      vehicle_L : 1.08
+      V_MAX : 8.33
 
diff --git a/...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml b/...lenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
@@ -12,11 +12,11 @@
 
     <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node"
       output="screen" unless="$(var use_stanley)">
-      <param name="use_external_target_vel" value="true" />
+      <param name="use_external_target_vel" value="false" />
       <param name="external_target_vel" value="8.0" />
       <param name="lookahead_gain" value="0.24" />
-      <param name="lookahead_min_distance" value="3.0" />
-      <param name="speed_proportional_gain" value="1.0" />
+      <param name="lookahead_min_distance" value="2.0" />
+      <param name="speed_proportional_gain" value="2.0" />
       <param name="steering_tire_angle_gain" value="$(var steering_tire_angle_gain_var)"/>
 
       <remap from="input/kinematics" to="/localization/kinematic_state" />

diff --git a/...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/...enge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -99,7 +99,7 @@
         <remap from="input" to="/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"/>
         <remap from="output" to="/planning/scenario_planning/trajectory"/>
         <!-- 減速度 -->
-        <param name="deceleration" value="-10.0"/>
+        <param name="deceleration" value="-14.0"/>
         <!-- ピットの何メートル前で速度を0にするか -->
         <param name="stop_offset" value="3.0"/>
         <!-- 最高速度 -->