From 9f2b8e24e197135f31e5f26ba102d01a5614b390 Mon Sep 17 00:00:00 2001 From: SHtokuda <165623782+shtokuda@users.noreply.github.com> Date: Wed, 4 Sep 2024 13:46:54 +0900 Subject: [PATCH] feat(mpc.param.yaml): fix vehicle_model_steer_tau to restrain unstable trajectories for v0.46.0 (#934) * fix(mpc.param.yaml): fix vehicle_model_steer_tau Signed-off-by: shtokuda * fix(mpc.param.yaml): fix vehicle_model_steer_tau for id=10 and awsim Signed-off-by: shtokuda --------- Signed-off-by: shtokuda --- .../config/control/trajectory_follower/1/lateral/mpc.param.yaml | 2 +- .../control/trajectory_follower/10/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/2/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/3/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/4/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/5/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/6/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/7/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/8/lateral/mpc.param.yaml | 2 +- .../config/control/trajectory_follower/9/lateral/mpc.param.yaml | 2 +- .../trajectory_follower/awsim_jpt/lateral/mpc.param.yaml | 2 +- 11 files changed, 11 insertions(+), 11 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml index f008910ae9..3a4330aed7 100644 --- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml index 3e5a6ef2b7..b809d360ca 100644 --- a/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml index 8057ff2275..17b204c280 100644 --- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml index f008910ae9..3a4330aed7 100644 --- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml index e5771f23d4..94b08ac412 100644 --- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml index 2294819b6b..ad6dd21569 100644 --- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.3 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml index 4353af4f0f..80cd67f420 100644 --- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] 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 index 4165a8ba6f..2085b2ac11 100644 --- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml index 0a430368cc..f055432959 100644 --- a/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml index 7968ec1867..10a7bd21ac 100644 --- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6] diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml index 883b35f5d6..4041daba0a 100644 --- a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml @@ -46,7 +46,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.1 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.25 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5 , 1.5 , 1.5] # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]