From 1e4ead728dc515b933222d0aedefcf490bc22d60 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 27 Jan 2023 21:10:27 +0900 Subject: [PATCH] feat(mpc_lateral_controller): add steering bias removal (#735) * feat(mpc_lateral_controller): add steering bias removal Signed-off-by: Takamasa Horibe * change name Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe --- .../control/trajectory_follower/lateral/mpc.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 4b4f348a5a..2324976f49 100644 --- 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