From 500c4fd5c25bc2e80095697c2522f09a3b9b731f Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 17 Oct 2023 09:42:00 +0900 Subject: [PATCH] feat(vehicle_cmd_gate): improve control command filter to prevent sudden acc and steer (#664) * feat(vehicle_cmd_gate): adaptive filter limit (#510) * feat(vehicle_cmd_gate): adaptive filter limit Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe * feat(vehicle_cmd_gate): add steering angle and rate filter (#576) Signed-off-by: Takamasa Horibe * update parameter for xx1 Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../vehicle_cmd_gate.param.yaml | 26 ++++++++++++------- 1 file changed, 16 insertions(+), 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 index 522cc3a1ca..552903416e 100644 --- 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]