feat(control): tune j6-gen1 control parameters (autowarefoundation#340)

* feat(control): set initial control parameters for j6-gen1 Signed-off-by: Makoto Kurihara <[email protected]> * fix(motion_velocity_smoother): fix jerk Signed-off-by: Makoto Kurihara <[email protected]> * feat(motion_velocity_smoother): set max velocity Signed-off-by: Makoto Kurihara <[email protected]> --------- Signed-off-by: Makoto Kurihara <[email protected]>
maxime-clem · Aug 3, 2023 · ab1cfb0 · ab1cfb0
1 parent b9c5199
commit ab1cfb0
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Showing 5 changed files with 12 additions and 12 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -45,8 +45,8 @@
 
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
-    input_delay: 0.24                # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.3     # steering dynamics time constant (1d approximation) [s]
+    input_delay: 0.17                # steering input delay time for delay compensation
+    vehicle_model_steer_tau: 0.15     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0]            # 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: [60.0, 50.0, 40.0]             # steering angle rate limit list depending on velocity [deg/s]

diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    delay_compensation_time: 0.17
+    delay_compensation_time: 0.15
 
     enable_smooth_stop: true
     enable_overshoot_emergency: true
@@ -56,16 +56,16 @@
 
     # emergency state
     emergency_vel: 0.0
-    emergency_acc: -5.0
-    emergency_jerk: -3.0
+    emergency_acc: -2.5
+    emergency_jerk: -1.5
 
     # acceleration limit
-    max_acc: 3.0
-    min_acc: -5.0
+    max_acc: 1.86
+    min_acc: -3.36
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -5.0
+    min_jerk: -2.0
 
     # pitch
     use_trajectory_for_pitch_calculation: false

diff --git a/...h/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/...h/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml
@@ -17,8 +17,8 @@
       kp: 0.3
 
     backward:
-      start_jerk: -0.1
-      min_jerk_mild_stop: -0.3
+      start_jerk: -0.3
+      min_jerk_mild_stop: -0.5
       min_jerk: -1.5
       min_acc_mild_stop: -1.0
       min_acc: -2.5

diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 20.0      # max velocity limit [m/s]
+    max_velocity: 9.72      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter

diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -6,7 +6,7 @@
   <!-- motion -->
   <arg name="cruise_planner_type" default="obstacle_cruise_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="true"/>
-  <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="smoother_type" default="Analytical" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
   <!-- variables -->
   <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>