From d125aec20277cedf41915226491ddda6a34c250c Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 11 Apr 2022 15:59:46 +0900 Subject: [PATCH] fix(control_launch):change default mpc param to improve performance Signed-off-by: Takamasa Horibe --- .../config/trajectory_follower/lateral_controller.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml index 88736ec29fa3a..f8a129af4d2a4 100644 --- a/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml +++ b/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml @@ -44,8 +44,8 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.1 # steering dynamics time constant (1d approximation) [s] - steer_lim_deg: 20.0 # steering angle limit [deg] + vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] + steer_lim_deg: 40.0 # steering angle limit [deg] steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] acceleration_limit: 2.0 # acceleration limit for trajectory velocity modification [m/ss] velocity_time_constant: 0.3 # velocity dynamics time constant for trajectory velocity modification [s]