From de30459db475e3efc1ba4a09b0a066abb29d8e32 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 23 Oct 2024 12:51:47 +0900 Subject: [PATCH] feat(control_validator): add hold and lpf (#1193) Signed-off-by: Yuki Takagi --- .../control_validator/control_validator.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index 945a37ca58..7485df43a5 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -9,5 +9,9 @@ thresholds: max_distance_deviation: 1.0 - max_reverse_velocity: 0.2 - max_over_velocity_ratio: 0.1 + rolling_back_velocity: 0.5 + over_velocity_offset: 2.0 + over_velocity_ratio: 0.2 + + vel_lpf_gain: 0.9 # Time constant 0.33 + hold_velocity_error_until_stop: true