From 5a5fbd90b03a3fc9bb81673820ead237781f0a80 Mon Sep 17 00:00:00 2001 From: Zhe Shen Date: Fri, 29 Mar 2024 17:15:30 +0900 Subject: [PATCH] fix: change the parameters of the controllers Signed-off-by: Zhe Shen --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 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 index 7820c562e8..977147d5c0 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- 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] + vehicle_model_steer_tau: 0.27 # 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] 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] diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index ad6217663f..5f023e1685 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - delay_compensation_time: 0.17 + delay_compensation_time: 0.1 enable_smooth_stop: true enable_overshoot_emergency: true