From 40f04eef5f18e89c56b3c38ea71bc85e953bf18b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 11 Nov 2024 10:40:29 +0900 Subject: [PATCH] fix(pid_longitudinal_controller): revive hysteresis of state transition (#1219) Signed-off-by: Takayuki Murooka --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 5c5d65a13b..3f42dbd599 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -11,7 +11,7 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.5 + stopping_state_stop_dist: 0.49 stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1