feat: change steer lim param (autowarefoundation#676)

Signed-off-by: tomoya.kimura <[email protected]>
soblin · Oct 19, 2023 · a0c0bd2 · a0c0bd2
1 parent c0843ae
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Showing 10 changed files with 10 additions and 10 deletions.
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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

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
@@ -49,7 +49,7 @@
     vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
-    steer_rate_lim_dps_list_by_velocity: [15.0,  15.0,   13.0,   10.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
+    steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]
     velocity_list_for_steer_rate_lim:    [0.0,   1.388,  2.778,  4.167,  5.556,   6.944,  8.333,  9.722,  11.11] # velocity list for steering angle rate limit interpolation in ascending order [m/s]
     acceleration_limit: 1.0          # acceleration limit for trajectory velocity modification [m/ss]
     velocity_time_constant: 0.3      # velocity dynamics time constant  for trajectory velocity modification [s]

diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -14,7 +14,7 @@
       vel_lim: 25.0
       reference_speed_points: [0.0, 1.388, 2.778, 4.167, 5.556, 6.944, 8.333, 9.722, 11.11]
       steer_lim: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.025, 0.025]
-      steer_rate_lim: [0.4 , 0.4 , 0.31 , 0.23 , 0.15  ,0.07 , 0.05, 0.035, 0.035]
+      steer_rate_lim: [0.5 , 0.5 , 0.4 , 0.3 , 0.15  ,0.07 , 0.05, 0.035, 0.035]
       lon_acc_lim: [100.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0]
       lon_jerk_lim: [100.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0, 6.0]
       lat_acc_lim: [5.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0, 4.0]