diff --git a/control/pid_longitudinal_controller/README.md b/control/pid_longitudinal_controller/README.md index acb3e7e0f994a..2bcc6970c42d1 100644 --- a/control/pid_longitudinal_controller/README.md +++ b/control/pid_longitudinal_controller/README.md @@ -193,21 +193,21 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving. ### DRIVE Parameter -| Name | Type | Description | Default value | -| :------------------------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| kp | double | p gain for longitudinal control | 1.0 | -| ki | double | i gain for longitudinal control | 0.1 | -| kd | double | d gain for longitudinal control | 0.0 | -| max_out | double | max value of PID's output acceleration during DRIVE state [m/s^2] | 1.0 | -| min_out | double | min value of PID's output acceleration during DRIVE state [m/s^2] | -1.0 | -| max_p_effort | double | max value of acceleration with p gain | 1.0 | -| min_p_effort | double | min value of acceleration with p gain | -1.0 | -| max_i_effort | double | max value of acceleration with i gain | 0.3 | -| min_i_effort | double | min value of acceleration with i gain | -0.3 | -| max_d_effort | double | max value of acceleration with d gain | 0.0 | -| min_d_effort | double | min value of acceleration with d gain | 0.0 | -| lpf_vel_error_gain | double | gain of low-pass filter for velocity error | 0.9 | -| brake_keeping_acc | double | If `enable_brake_keeping_before_stop` is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See [Brake keeping](#brake-keeping). | 0.2 | +| Name | Type | Description | Default value | +| :----------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| kp | double | p gain for longitudinal control | 1.0 | +| ki | double | i gain for longitudinal control | 0.1 | +| kd | double | d gain for longitudinal control | 0.0 | +| max_out | double | max value of PID's output acceleration during DRIVE state [m/s^2] | 1.0 | +| min_out | double | min value of PID's output acceleration during DRIVE state [m/s^2] | -1.0 | +| max_p_effort | double | max value of acceleration with p gain | 1.0 | +| min_p_effort | double | min value of acceleration with p gain | -1.0 | +| max_i_effort | double | max value of acceleration with i gain | 0.3 | +| min_i_effort | double | min value of acceleration with i gain | -0.3 | +| max_d_effort | double | max value of acceleration with d gain | 0.0 | +| min_d_effort | double | min value of acceleration with d gain | 0.0 | +| lpf_vel_error_gain | double | gain of low-pass filter for velocity error | 0.9 | +| brake_keeping_acc | double | If `enable_brake_keeping_before_stop` is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See [Brake keeping](#brake-keeping). | 0.2 | ### STOPPING Parameter (smooth stop)