tune feedback params for Td:0.2 Tc:0.1

Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Aug 1, 2024 · f9c131e · f9c131e
1 parent 4780369
commit f9c131e
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -20,8 +20,8 @@
     emergency_state_traj_rot_dev: 0.7854
 
     # drive state
-    kp: 1.0
-    ki: 0.1
+    kp: 2.0
+    ki: 0.0
     kd: 0.0
     max_out: 1.0
     min_out: -1.0
@@ -31,7 +31,7 @@
     min_i_effort: -0.3
     max_d_effort: 0.0
     min_d_effort: 0.0
-    lpf_vel_error_gain: 0.9
+    lpf_vel_error_gain: 0.99
     enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
     time_threshold_before_pid_integration: 2.0
@@ -61,8 +61,8 @@
     emergency_jerk: -1.5
 
     # acceleration feedback 2/(0.6s+1)
-    lpf_acc_error_gain: 0.95 # 
-    acc_feedback_gain: 0.0
+    lpf_acc_error_gain: 0.97 # 
+    acc_feedback_gain: 2.0
 
     # acceleration limit
     max_acc: 1.86