feat(mpc_controller): tuning mpc parameters in trajectory follower (a…

…utowarefoundation#858) * tuning mpc parameters for trajectory following Signed-off-by: Ericpotato <[email protected]>
tier4 · May 28, 2024 · fb35b10 · fb35b10
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commit fb35b10
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Showing 10 changed files with 10 additions and 10 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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

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
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point

diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
@@ -24,7 +24,7 @@
     mpc_weight_heading_error_squared_vel: 0.03   # 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: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk 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: 0.05                   # lateral error weight in matrix Q in low curvature point