From f9c131efd01de91486d6d2c6e5591340a3bf3b77 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 2 Aug 2024 01:04:37 +0900 Subject: [PATCH] tune feedback params for Td:0.2 Tc:0.1 Signed-off-by: Yuki Takagi --- .../trajectory_follower/longitudinal/pid.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 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 index 89eca9a829..bac3cd0b1a 100644 --- 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