feat(mpc): update steering filter to prevent suddent steering (autowa…

…refoundation#665) Signed-off-by: Takamasa Horibe <[email protected]>
soblin · Oct 17, 2023 · d829d53 · d829d53
1 parent 500c4fd
commit d829d53
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Showing 10 changed files with 20 additions and 20 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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
@@ -49,8 +49,8 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [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]
+    steer_rate_lim_dps_list_by_velocity: [11.25, 11.25,  9.  ,  6.75,  4.5 ,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # 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]