fix: fix mpc parameter (autowarefoundation#573)

Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Jul 27, 2023 · b195976 · b195976
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commit b195976
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Showing 10 changed files with 38 additions and 11 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.3                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
@@ -47,7 +47,10 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps: 20.0         # steering angle rate limit [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
+    curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
+    velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # 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/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
@@ -47,9 +47,9 @@
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
-    steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # steering angle rate limit list depending on curvature [deg/s]
+    steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]
+    steer_rate_lim_dps_list_by_velocity: [20.0, 20.0, 20.0]             # steering angle rate limit list depending on velocity [deg/s]
     velocity_list_for_steer_rate_lim: [10.0, 15.0, 20.0]                  # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]