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Merge pull request autowarefoundation#874 from tier4/revert-867-dm/ch…
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…erry_pick_mpc

fix: revert "chore: merge pull request autowarefoundation#866 from tier4/dm/use_vanilla_mpc"
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@dkoldaev
dkoldaev authored Jun 13, 2024
2 parents 266accd + dad9a85 commit 1dbacd6
Showing 1 changed file with 15 additions and 15 deletions.
30 changes: 15 additions & 15 deletions autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
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admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value

# -- path smoothing --
enable_path_smoothing: false # flag for path smoothing
enable_path_smoothing: true # flag for path smoothing
path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
curvature_smoothing_num_traj: 15 # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)

# -- trajectory extending --
extend_trajectory_for_end_yaw_control: false # flag of trajectory extending for terminal yaw control
extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control

# -- mpc optimization --
qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp)
Expand All @@ -23,19 +23,19 @@
mpc_weight_heading_error: 0.0 # heading error weight in matrix Q
mpc_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q
mpc_weight_steering_input: 1.0 # steering error weight in matrix R
mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R
mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R
mpc_weight_lat_jerk: 0.1 # lateral jerk weight in matrix R
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R
mpc_low_curvature_weight_lat_error: 0.1 # lateral error weight in matrix Q in low curvature point
mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point
mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point
mpc_low_curvature_weight_heading_error_squared_vel: 0.3 # heading error * velocity weight in matrix Q in low curvature point
mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point
mpc_low_curvature_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R in low curvature point
mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point
mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point
mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point
mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point
mpc_low_curvature_thresh_curvature: 0.0 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03)
mpc_low_curvature_thresh_curvature: 0.03 # threshold of curvature to use "low_curvature" parameter (recommend: 0.01~0.03)
mpc_weight_terminal_lat_error: 1.0 # terminal lateral error weight in matrix Q to improve mpc stability
mpc_weight_terminal_heading_error: 0.1 # terminal heading error weight in matrix Q to improve mpc stability
mpc_zero_ff_steer_deg: 0.5 # threshold that feed-forward angle becomes zero
Expand All @@ -45,22 +45,22 @@

# -- vehicle model --
vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
input_delay: 0.24 # steering input delay time for delay compensation
vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s]
steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s]
input_delay: 0.1 # steering input delay time for delay compensation
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: [60.0, 50.0, 40.0] # 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]
acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss]
steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 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]

# -- lowpass filter for noise reduction --
steering_lpf_cutoff_hz: 3.0 # cutoff frequency of lowpass filter for steering command [Hz]
steering_lpf_cutoff_hz: 10.0 # cutoff frequency of lowpass filter for steering command [Hz]
error_deriv_lpf_cutoff_hz: 5.0

# stop state: steering command is kept in the previous value in the stop state.
stop_state_entry_ego_speed: 0.001
stop_state_entry_target_speed: 0.001
stop_state_entry_ego_speed: 0.2
stop_state_entry_target_speed: 0.2
converged_steer_rad: 0.1
keep_steer_control_until_converged: true
new_traj_duration_time: 1.0
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