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feat(pid_longitudinal_controller): error integration on vehicle takeoff #698

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merged 2 commits into from
Nov 27, 2023
Merged

feat(pid_longitudinal_controller): error integration on vehicle takeoff #698

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be07256
add parameter for PID integration time threshold
danielsanchezaran Nov 21, 2023
16b93a9
add param to enable or disable low speed error integration
danielsanchezaran Nov 21, 2023
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2 changes: 2 additions & 0 deletions autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Expand Up @@ -32,7 +32,9 @@
max_d_effort: 0.0
min_d_effort: 0.0
lpf_vel_error_gain: 0.9
enable_integration_at_low_speed: false
current_vel_threshold_pid_integration: 0.5
time_threshold_before_pid_integration: 2.0
enable_brake_keeping_before_stop: false
brake_keeping_acc: -0.2

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