Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

chore: sync awf/autoware_launch #98

Merged
merged 3 commits into from
May 1, 2023
Merged

chore: sync awf/autoware_launch #98

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
2ba6593
perf(mpc_lateral_controller): mpc works more stably (#336)
takayuki5168 Apr 29, 2023
bfd0bd8
feat(autoware_launch): avoid oncoming vehicles (#335)
takayuki5168 Apr 30, 2023
0409a24
feat(autoware_launch): add min_drivable_width (#334)
takayuki5168 Apr 30, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,12 @@
qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp)
mpc_prediction_horizon: 50 # prediction horizon step
mpc_prediction_dt: 0.1 # prediction horizon period [s]
mpc_weight_lat_error: 0.1 # lateral error weight in matrix Q
mpc_weight_lat_error: 1.0 # 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_steering_input: 1.0 # steering error weight in matrix R
mpc_weight_steering_input_squared_vel: 0.25 # steering error * velocity weight in matrix R
mpc_weight_lat_jerk: 0.0 # lateral jerk weight in matrix R
mpc_weight_lat_jerk: 0.1 # 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: 0.1 # lateral error weight in matrix Q in low curvature point
Expand Down
3 changes: 2 additions & 1 deletion ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,5 +16,6 @@

drivable_area_generation:
lat_offset_from_obstacle: 0.8 # [m]
time_to_avoid: 5.0 # [s]
time_to_avoid_same_directional_object: 5.0 # [s]
time_to_avoid_opposite_directional_object: 6.0 # [s]
max_lat_offset_to_avoid: 0.5 # [m]
1 change: 1 addition & 0 deletions ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@
avoidance_cost_margin: 0.0 # [m]
avoidance_cost_band_length: 5.0 # [m]
avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval
min_drivable_width: 0.2 # [m] The vehicle width and this parameter is guaranteed to keep for collision free constraint.

weight:
lat_error_weight: 0.0 # weight for lateral error
Expand Down