feat(vehicle_cmd_gate): improve control command filter to prevent sud…

…den acc and steer (autowarefoundation#664) * feat(vehicle_cmd_gate): adaptive filter limit (autowarefoundation#510) * feat(vehicle_cmd_gate): adaptive filter limit Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]> * feat(vehicle_cmd_gate): add steering angle and rate filter (autowarefoundation#576) Signed-off-by: Takamasa Horibe <[email protected]> * update parameter for xx1 Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]>
soblin · Oct 17, 2023 · 500c4fd · 500c4fd
1 parent ff64cc5
commit 500c4fd
Showing 1 changed file with 16 additions and 10 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -12,15 +12,21 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      lon_acc_lim: 5.0
-      lon_jerk_lim: 5.0
-      lat_acc_lim: 5.0
-      lat_jerk_lim: 5.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11]
+      steer_lim: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.025, 0.025]
+      steer_rate_lim: [0.4 , 0.4 , 0.31 , 0.23 , 0.15  ,0.07 , 0.05, 0.035, 0.035]
+      lon_acc_lim: [6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0]
+      lon_jerk_lim: [6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0]
+      lat_acc_lim: [5.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0]
+      lat_jerk_lim: [0.869, 0.869, 0.869, 1.47, 1.74, 1.36, 1.30, 1.78, 2.32]
+      actual_steer_diff_lim: [1.0, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8]
     on_transition:
       vel_lim: 50.0
-      lon_acc_lim: 1.0
-      lon_jerk_lim: 0.5
-      lat_acc_lim: 2.0
-      lat_jerk_lim: 7.0
-      actual_steer_diff_lim: 1.0
+      reference_speed_points: [20.0, 30.0]
+      steer_lim: [1.0, 0.8]
+      steer_rate_lim: [1.0, 0.8]
+      lon_acc_lim: [1.0, 0.9]
+      lon_jerk_lim: [0.5, 0.4]
+      lat_acc_lim: [2.0, 1.8]
+      lat_jerk_lim: [7.0, 6.0]
+      actual_steer_diff_lim: [1.0, 0.8]