chore(mpc): tune curve (autowarefoundation#881)

tier4 · Jun 24, 2024 · fc74ff5 · fc74ff5
1 parent ded0c95
commit fc74ff5
Showing 1 changed file with 1 addition and 1 deletion.
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
@@ -27,7 +27,7 @@
     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
+    mpc_low_curvature_weight_lat_error: 0.20                   # 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: 0.03   # 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