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change contol param (#210)
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@shiorikawata
shiorikawata authored Feb 22, 2022
1 parent a17d372 commit 3f5eb66
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Showing 18 changed files with 33 additions and 33 deletions.
6 changes: 3 additions & 3 deletions control_launch/config/trajectory_follower/1/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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_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
mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point
mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/1/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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# drive state
kp: 2.0
ki: 0.01
kd: 0.0
kd: 0.1
max_out: 1.0
min_out: -5.0
max_p_effort: 0.5
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/10/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/10/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/2/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/2/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/3/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/3/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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6 changes: 3 additions & 3 deletions control_launch/config/trajectory_follower/4/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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_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
mpc_low_curvature_weight_steer_rate: 0.0 # steering rate weight in matrix R in low curvature point
mpc_low_curvature_weight_steer_acc: 0.000001 # steering angular acceleration weight in matrix R in low curvature point
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/4/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
emergency_state_traj_trans_dev: 3.0
emergency_state_traj_rot_dev: 0.7854

# drive state
kp: 2.0
kp: 2.2
ki: 0.02
kd: 0.1
max_out: 1.0
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/5/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/5/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/6/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/6/longitudinal_controller.param.yaml
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Expand Up @@ -10,7 +10,7 @@
# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/7/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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2 changes: 1 addition & 1 deletion control_launch/config/trajectory_follower/7/longitudinal_controller.param.yaml
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# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
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4 changes: 2 additions & 2 deletions control_launch/config/trajectory_follower/9/lateral_controller.param.yaml
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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: 0.3 # 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
mpc_weight_steer_rate: 0.0 # steering rate weight in matrix R
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: 0.3 # 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
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6 changes: 3 additions & 3 deletions control_launch/config/trajectory_follower/9/longitudinal_controller.param.yaml
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Expand Up @@ -10,7 +10,7 @@
# state transition
drive_state_stop_dist: 0.5
drive_state_offset_stop_dist: 1.0
stopping_state_stop_dist: 0.49
stopping_state_stop_dist: 0.50
stopped_state_entry_vel: 0.01
stopped_state_entry_acc: 0.1
emergency_state_overshoot_stop_dist: 1.5
Expand All @@ -22,9 +22,9 @@
ki: 0.1
kd: 0.0
max_out: 1.0
min_out: -5.0
min_out: -1.0
max_p_effort: 1.0
min_p_effort: -5.0
min_p_effort: -1.0
max_i_effort: 0.3
min_i_effort: -0.3
max_d_effort: 0.0
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