feat(mpc_lateral_controller): add steering bias removal (autowarefoun…

…dation#735) * feat(mpc_lateral_controller): add steering bias removal Signed-off-by: Takamasa Horibe <[email protected]> * change name Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]>
sykwer · Jan 27, 2023 · 1e4ead7 · 1e4ead7
1 parent 21ecce9
commit 1e4ead7
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -63,6 +63,14 @@
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3
 
+    # steer offset
+    steering_offset:
+      enable_auto_steering_offset_removal: true
+      update_vel_threshold: 5.56
+      update_steer_threshold: 0.035
+      average_num: 1000
+      steering_offset_limit: 0.02
+
     # vehicle parameters
     vehicle:
       cg_to_front_m: 1.228