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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 f4508af1e9..17c5f815c8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.50 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 b64dd14272..bbb56f23b0 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 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 acc009eb3e..7103ff01f8 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 @@ -21,7 +21,7 @@ mpc_prediction_dt: 0.1 # prediction horizon period [s] mpc_weight_lat_error: 0.2 # lateral error weight in matrix Q mpc_weight_heading_error: 0.0 # heading error weight in matrix Q - mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q + mpc_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q mpc_weight_steering_input: 1.0 # steering error weight in matrix R mpc_weight_steering_input_squared_vel: 1.00 # steering error * velocity weight in matrix R mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R @@ -29,7 +29,7 @@ mpc_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R mpc_low_curvature_weight_lat_error: 0.05 # lateral error weight in matrix Q in low curvature point mpc_low_curvature_weight_heading_error: 0.0 # heading error weight in matrix Q in low curvature point - mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point + mpc_low_curvature_weight_heading_error_squared_vel: 0.03 # heading error * velocity weight in matrix Q in low curvature point mpc_low_curvature_weight_steering_input: 1.0 # steering error weight in matrix R in low curvature point mpc_low_curvature_weight_steering_input_squared_vel: 2.00 # steering error * velocity weight in matrix R in low curvature point mpc_low_curvature_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R in low curvature point @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: @@ -70,15 +71,3 @@ update_steer_threshold: 0.035 average_num: 1000 steering_offset_limit: 0.02 - - # vehicle parameters - vehicle: - cg_to_front_m: 1.228 - cg_to_rear_m: 1.5618 - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 diff --git a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml index c0efe8704e..f2b763e6cf 100644 --- a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml @@ -62,6 +62,7 @@ keep_steer_control_until_converged: true new_traj_duration_time: 1.0 new_traj_end_dist: 0.3 + mpc_converged_threshold_rps: 0.01 # threshold of mpc convergence check [rad/s] # steer offset steering_offset: