From 6c6e8640e6725e137a0650c389af2cfceb0cd25a Mon Sep 17 00:00:00 2001 From: Zhe Shen <80969277+HansOersted@users.noreply.github.com> Date: Thu, 15 Feb 2024 08:40:17 +0900 Subject: [PATCH] feat(tier4_control_launch): disable the trajectory extension (#866) disable the trajectory extending for terminal yaw control Signed-off-by: Zhe Shen --- .../config/control/trajectory_follower/lateral/mpc.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 9998b6aadf..7820c562e8 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -13,7 +13,7 @@ curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- trajectory extending -- - extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control + extend_trajectory_for_end_yaw_control: false # flag of trajectory extending for terminal yaw control # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp)