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feat(pid_longitudinal_controller): re-organize diff limit structure #1052

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merged 4 commits into from
Jul 24, 2024
Merged

feat(pid_longitudinal_controller): re-organize diff limit structure #1052

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b11b852
rearange params
yuki-takagi-66 Jul 4, 2024
b2cc61e
po
yuki-takagi-66 Jul 4, 2024
96e91ba
restore names
yuki-takagi-66 Jul 22, 2024
75f28ba
change param name
yuki-takagi-66 Jul 23, 2024
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6 changes: 3 additions & 3 deletions autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -53,12 +53,11 @@

# stopped state
stopped_vel: 0.0
stopped_acc: -3.4
stopped_jerk: -5.0
stopped_acc: -3.4 # denotes pedal position

# emergency state
emergency_vel: 0.0
emergency_acc: -5.0
emergency_acc: -5.0 # denotes acceleration
emergency_jerk: -3.0

# acceleration limit
Expand All @@ -68,6 +67,7 @@
# jerk limit
max_jerk: 2.0
min_jerk: -5.0
max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]

# slope compensation
lpf_pitch_gain: 0.95
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