diff --git a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml index f7548536beaef..01a03b5ae21e8 100644 --- a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml +++ b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml @@ -2,16 +2,16 @@ ros__parameters: # Ego path calculation use_predicted_trajectory: true - use_imu_path: true + use_imu_path: false use_pointcloud_data: true - use_predicted_object_data: false + use_predicted_object_data: true use_object_velocity_calculation: true check_autoware_state: true min_generated_imu_path_length: 0.5 max_generated_imu_path_length: 10.0 imu_prediction_time_horizon: 1.5 imu_prediction_time_interval: 0.1 - mpc_prediction_time_horizon: 4.5 + mpc_prediction_time_horizon: 1.5 mpc_prediction_time_interval: 0.1 # Debug @@ -31,8 +31,8 @@ speed_calculation_expansion_margin: 0.5 # Point cloud clustering - cluster_tolerance: 0.15 #[m] - cluster_minimum_height: 0.1 + cluster_tolerance: 0.1 #[m] + cluster_minimum_height: 0.0 minimum_cluster_size: 10 maximum_cluster_size: 10000 diff --git a/control/autoware_control_validator/config/control_validator.param.yaml b/control/autoware_control_validator/config/control_validator.param.yaml index 7cce20e56299b..12709b18b7932 100644 --- a/control/autoware_control_validator/config/control_validator.param.yaml +++ b/control/autoware_control_validator/config/control_validator.param.yaml @@ -6,7 +6,7 @@ # the next trajectory is valid.) diag_error_count_threshold: 0 - display_on_terminal: false # show error msg on terminal + display_on_terminal: true # show error msg on terminal thresholds: max_distance_deviation: 1.0 diff --git a/control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml b/control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml index 84741ae396d07..2724c28e2536a 100644 --- a/control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml +++ b/control/autoware_lane_departure_checker/config/lane_departure_checker.param.yaml @@ -1,9 +1,9 @@ /**: ros__parameters: # Enable feature - will_out_of_lane_checker: false - out_of_lane_checker: false - boundary_departure_checker: true + will_out_of_lane_checker: true + out_of_lane_checker: true + boundary_departure_checker: false # Node update_rate: 10.0 @@ -12,7 +12,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false - boundary_types_to_detect: [curbstone] + boundary_types_to_detect: [road_border] # Core diff --git a/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml b/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml index 37772ac574b1f..9998b6aadf656 100644 --- a/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml +++ b/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml @@ -13,7 +13,7 @@ curvature_smoothing_num_ref_steer: 15 # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num) # -- trajectory extending -- - extend_trajectory_for_end_yaw_control: false # flag of trajectory extending for terminal yaw control + extend_trajectory_for_end_yaw_control: true # flag of trajectory extending for terminal yaw control # -- mpc optimization -- qp_solver_type: "osqp" # optimization solver option (unconstraint_fast or osqp) @@ -46,7 +46,7 @@ # -- 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: 0.27 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.3 # 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/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml index 97a1d64ed84f7..5027c94afe7c1 100644 --- a/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml +++ b/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - delay_compensation_time: 0.1 + delay_compensation_time: 0.17 enable_smooth_stop: true enable_overshoot_emergency: true diff --git a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index dd99e6d16020d..74affea696893 100644 --- a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -2,7 +2,7 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: true + use_emergency_handling: false check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) use_start_request: false enable_cmd_limit_filter: true diff --git a/control/obstacle_collision_checker/config/obstacle_collision_checker.param.yaml b/control/obstacle_collision_checker/config/obstacle_collision_checker.param.yaml index e3c78c90e2ed1..883b4d8259f49 100644 --- a/control/obstacle_collision_checker/config/obstacle_collision_checker.param.yaml +++ b/control/obstacle_collision_checker/config/obstacle_collision_checker.param.yaml @@ -4,8 +4,8 @@ update_rate: 10.0 # Core - delay_time: 0.03 # delay time of vehicle [s] + delay_time: 0.3 # delay time of vehicle [s] footprint_margin: 0.0 # margin for footprint [m] - max_deceleration: 1.5 # max deceleration [m/ss] + max_deceleration: 2.0 # max deceleration [m/ss] resample_interval: 0.3 # interval distance to resample point cloud [m] search_radius: 5.0 # search distance from trajectory to point cloud [m]