From b195976e1bf4e0a3432b8ea17153d4b5e1df5c2e Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 27 Jul 2023 22:03:31 +0900 Subject: [PATCH] fix: fix mpc parameter (#573) Signed-off-by: tomoya.kimura --- .../control/trajectory_follower/1/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/10/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/2/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/3/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/4/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/5/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/6/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/7/lateral/mpc.param.yaml | 5 ++++- .../control/trajectory_follower/9/lateral/mpc.param.yaml | 5 ++++- .../trajectory_follower/default/lateral/mpc.param.yaml | 4 ++-- 10 files changed, 38 insertions(+), 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 index 7103ff01f8..2c00852e69 100644 --- 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 index 7103ff01f8..2c00852e69 100644 --- 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 index 7103ff01f8..2c00852e69 100644 --- 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 index 7103ff01f8..2c00852e69 100644 --- 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 index 17c5f815c8..fad9a654bc 100644 --- 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 index 01faacac50..fa36d6a1fd 100644 --- 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 index 7103ff01f8..2c00852e69 100644 --- 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 index 7103ff01f8..2c00852e69 100644 --- 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 index 7103ff01f8..2c00852e69 100644 --- 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 index b1df3a8642..68fba6fbed 100644 --- 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]