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fix(control_launch): change default mpc param to improve performance #667

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Apr 11, 2022
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fix(control_launch): change default mpc param to improve performance #667

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4 changes: 2 additions & 2 deletions launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml
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Expand Up @@ -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]
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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]
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