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refactor(control/pid_longitudinal_controller): rework parameters (#6707)
* reset and re-apply refactoring Signed-off-by: Oguz <[email protected]> * style(pre-commit): autofix * . Signed-off-by: Oguz Ozturk <[email protected]> * . Signed-off-by: Oguz Ozturk <[email protected]> --------- Signed-off-by: Oguz <[email protected]> Signed-off-by: Oguz Ozturk <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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| ament_auto_package( | ||
| INSTALL_TO_SHARE | ||
| param | ||
| config | ||
| ) | ||
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...oware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "autoware_pid_longitudinal_controller parameters", | ||
| "type": "object", | ||
| "definitions": { | ||
| "autoware_pid_longitudinal_controller": { | ||
| "type": "object", | ||
| "properties": { | ||
| "delay_compensation_time": { | ||
| "type": "number", | ||
| "description": "delay for longitudinal control [s]", | ||
| "default": "0.17" | ||
| }, | ||
| "enable_smooth_stop": { | ||
| "type": "boolean", | ||
| "description": "flag to enable transition to STOPPING", | ||
| "default": "true" | ||
| }, | ||
| "enable_overshoot_emergency": { | ||
| "type": "boolean", | ||
| "description": "flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`", | ||
| "default": "true" | ||
| }, | ||
| "enable_large_tracking_error_emergency": { | ||
| "type": "boolean", | ||
| "description": "flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose", | ||
| "default": "true" | ||
| }, | ||
| "enable_slope_compensation": { | ||
| "type": "boolean", | ||
| "description": "flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle", | ||
| "default": "true" | ||
| }, | ||
| "enable_keep_stopped_until_steer_convergence": { | ||
| "type": "boolean", | ||
| "description": "flag to keep stopped condition until until the steer converges", | ||
| "default": "true" | ||
| }, | ||
| "drive_state_stop_dist": { | ||
| "type": "number", | ||
| "description": "The state will transit to DRIVE when the distance to the stop point is longer than `drive_state_stop_dist` + `drive_state_offset_stop_dist` [m]", | ||
| "default": "0.5" | ||
| }, | ||
| "drive_state_offset_stop_dist": { | ||
| "type": "number", | ||
| "description": "The state will transit to DRIVE when the distance to the stop point is longer than `drive_state_stop_dist` + `drive_state_offset_stop_dist` [m]", | ||
| "default": "1.0" | ||
| }, | ||
| "stopping_state_stop_dist": { | ||
| "type": "number", | ||
| "description": "The state will transit to STOPPING when the distance to the stop point is shorter than `stopping_state_stop_dist` [m]", | ||
| "default": "0.5" | ||
| }, | ||
| "stopped_state_entry_duration_time": { | ||
| "type": "number", | ||
| "description": "threshold of the ego velocity in transition to the STOPPED state [s]", | ||
| "default": "0.1" | ||
| }, | ||
| "stopped_state_entry_vel": { | ||
| "type": "number", | ||
| "description": "threshold of the ego velocity in transition to the STOPPED state [m/s]", | ||
| "default": "0.01" | ||
| }, | ||
| "stopped_state_entry_acc": { | ||
| "type": "number", | ||
| "description": "threshold of the ego acceleration in transition to the STOPPED state [m/s^2]", | ||
| "default": "0.1" | ||
| }, | ||
| "emergency_state_overshoot_stop_dist": { | ||
| "type": "number", | ||
| "description": "If `enable_overshoot_emergency` is true and the ego is `emergency_state_overshoot_stop_dist`-meter ahead of the stop point, the state will transit to EMERGENCY. [m]", | ||
| "default": "1.5" | ||
| }, | ||
| "emergency_state_traj_trans_dev": { | ||
| "type": "number", | ||
| "description": "If the ego's position is `emergency_state_traj_trans_dev` meter away from the nearest trajectory point, the state will transit to EMERGENCY. [m]", | ||
| "default": "3.0" | ||
| }, | ||
| "emergency_state_traj_rot_dev": { | ||
| "type": "number", | ||
| "description": "If the ego's orientation is `emergency_state_traj_rot_dev` rad away from the nearest trajectory point orientation, the state will transit to EMERGENCY. [rad]", | ||
| "default": "0.7854" | ||
| }, | ||
| "kp": { | ||
| "type": "number", | ||
| "description": "p gain for longitudinal control", | ||
| "default": "1.0" | ||
| }, | ||
| "ki": { | ||
| "type": "number", | ||
| "description": "i gain for longitudinal control", | ||
| "default": "0.1" | ||
| }, | ||
| "kd": { | ||
| "type": "number", | ||
| "description": "d gain for longitudinal control", | ||
| "default": "0.0" | ||
| }, | ||
| "max_out": { | ||
| "type": "number", | ||
| "description": "max value of PID's output acceleration during DRIVE state [m/s^2]", | ||
| "default": "1.0" | ||
| }, | ||
| "min_out": { | ||
| "type": "number", | ||
| "description": "min value of PID's output acceleration during DRIVE state [m/s^2]", | ||
| "default": "-1.0" | ||
| }, | ||
| "max_p_effort": { | ||
| "type": "number", | ||
| "description": "max value of acceleration with p gain", | ||
| "default": "1.0" | ||
| }, | ||
| "min_p_effort": { | ||
| "type": "number", | ||
| "description": "min value of acceleration with p gain", | ||
| "default": "-1.0" | ||
| }, | ||
| "max_i_effort": { | ||
| "type": "number", | ||
| "description": "max value of acceleration with i gain ", | ||
| "default": "0.3" | ||
| }, | ||
| "min_i_effort": { | ||
| "type": "number", | ||
| "description": "min value of acceleration with i gain", | ||
| "default": "-0.3" | ||
| }, | ||
| "max_d_effort": { | ||
| "type": "number", | ||
| "description": "max value of acceleration with d gain", | ||
| "default": "0.0" | ||
| }, | ||
| "min_d_effort": { | ||
| "type": "number", | ||
| "description": "min value of acceleration with d gain ", | ||
| "default": "0.0" | ||
| }, | ||
| "lpf_vel_error_gain": { | ||
| "type": "number", | ||
| "description": "gain of low-pass filter for velocity", | ||
| "default": "0.9" | ||
| }, | ||
| "enable_integration_at_low_speed": { | ||
| "type": "boolean", | ||
| "description": "Whether to enable integration of acceleration errors when the vehicle speed is lower than `current_vel_threshold_pid_integration` or not.", | ||
| "default": "false" | ||
| }, | ||
| "current_vel_threshold_pid_integration": { | ||
| "type": "number", | ||
| "description": "Velocity error is integrated for I-term only when the absolute value of current velocity is larger than this parameter. [m/s]", | ||
| "default": "0.5" | ||
| }, | ||
| "time_threshold_before_pid_integration": { | ||
| "type": "number", | ||
| "description": "How much time without the vehicle moving must past to enable PID error integration. [s]", | ||
| "default": "2.0" | ||
| }, | ||
| "enable_brake_keeping_before_stop": { | ||
| "type": "boolean", | ||
| "description": "flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping]", | ||
| "default": "false" | ||
| }, | ||
| "brake_keeping_acc": { | ||
| "type": "number", | ||
| "description": "If `enable_brake_keeping_before_stop` is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See [Brake keeping]", | ||
| "default": "-0.2" | ||
| }, | ||
| "smooth_stop_max_strong_acc": { | ||
| "type": "number", | ||
| "description": "max strong acceleration [m/s^2]", | ||
| "default": "-0.5" | ||
| }, | ||
| "smooth_stop_min_strong_acc": { | ||
| "type": "number", | ||
| "description": "min strong acceleration [m/s^2]", | ||
| "default": "-0.8" | ||
| }, | ||
| "smooth_stop_weak_acc": { | ||
| "type": "number", | ||
| "description": "weak acceleration [m/s^2]", | ||
| "default": "-0.3" | ||
| }, | ||
| "smooth_stop_weak_stop_acc": { | ||
| "type": "number", | ||
| "description": "weak acceleration to stop right now [m/s^2]", | ||
| "default": "-0.8" | ||
| }, | ||
| "smooth_stop_strong_stop_acc": { | ||
| "type": "number", | ||
| "description": "strong acceleration to be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m/s^2]", | ||
| "default": "-3.4" | ||
| }, | ||
| "smooth_stop_max_fast_vel": { | ||
| "type": "number", | ||
| "description": "max fast vel to judge the ego is running fast [m/s]. If the ego is running fast, strong acceleration will be output.", | ||
| "default": "0.5" | ||
| }, | ||
| "smooth_stop_min_running_vel": { | ||
| "type": "number", | ||
| "description": "min ego velocity to judge if the ego is running or not [m/s]", | ||
| "default": "0.01" | ||
| }, | ||
| "smooth_stop_min_running_acc": { | ||
| "type": "number", | ||
| "description": "min ego acceleration to judge if the ego is running or not [m/s^2]", | ||
| "default": "0.01" | ||
| }, | ||
| "smooth_stop_weak_stop_time": { | ||
| "type": "number", | ||
| "description": "max time to output weak acceleration [s]. After this, strong acceleration will be output.", | ||
| "default": "0.8" | ||
| }, | ||
| "smooth_stop_weak_stop_dist": { | ||
| "type": "number", | ||
| "description": "Weak acceleration will be output when the ego is `smooth_stop_weak_stop_dist`-meter before the stop point. [m]", | ||
| "default": "-0.3" | ||
| }, | ||
| "smooth_stop_strong_stop_dist": { | ||
| "type": "number", | ||
| "description": "Strong acceleration will be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m]", | ||
| "default": "-0.5" | ||
| }, | ||
| "stopped_vel": { | ||
| "type": "number", | ||
| "description": "target velocity in STOPPED state [m/s]", | ||
| "default": "0.0" | ||
| }, | ||
| "stopped_acc": { | ||
| "type": "number", | ||
| "description": "target acceleration in STOPPED state [m/s^2]", | ||
| "default": "-3.4" | ||
| }, | ||
| "stopped_jerk": { | ||
| "type": "number", | ||
| "description": "target jerk in STOPPED state [m/s^3]", | ||
| "default": "-5.0" | ||
| }, | ||
| "emergency_vel": { | ||
| "type": "number", | ||
| "description": "target velocity in EMERGENCY state [m/s]", | ||
| "default": "0.00" | ||
| }, | ||
| "emergency_acc": { | ||
| "type": "number", | ||
| "description": "target acceleration in an EMERGENCY state [m/s^2]", | ||
| "default": "-5.0" | ||
| }, | ||
| "emergency_jerk": { | ||
| "type": "number", | ||
| "description": "target jerk in an EMERGENCY state [m/s^3]", | ||
| "default": "-3.0" | ||
| }, | ||
| "max_acc": { | ||
| "type": "number", | ||
| "description": "max value of output acceleration [m/s^2]", | ||
| "default": "3.0" | ||
| }, | ||
| "min_acc": { | ||
| "type": "number", | ||
| "description": "min value of output acceleration [m/s^2]", | ||
| "default": "-5.0" | ||
| }, | ||
| "max_jerk": { | ||
| "type": "number", | ||
| "description": "max value of jerk of output acceleration [m/s^3]", | ||
| "default": "2.0" | ||
| }, | ||
| "min_jerk": { | ||
| "type": "number", | ||
| "description": "min value of jerk of output acceleration [m/s^3]", | ||
| "default": "-5.0" | ||
| }, | ||
| "max_acc_cmd_diff": { | ||
| "type": "number", | ||
| "description": "max difference between the current and previous acceleration command [m/s^2 * s^-1]", | ||
| "default": "50" | ||
| }, | ||
| "lpf_pitch_gain": { | ||
| "type": "number", | ||
| "description": "gain of low-pass filter for pitch estimation", | ||
| "default": "0.95" | ||
| }, | ||
| "slope_source": { | ||
| "type": "string", | ||
| "description": "source of slope angle.", | ||
| "default": "raw_pitch" | ||
| }, | ||
| "adaptive_trajectory_velocity_th": { | ||
| "type": "number", | ||
| "description": "threshold of the ego velocity to use adaptive trajectory velocity [m/s]", | ||
| "default": "1.0" | ||
| }, | ||
| "max_pitch_rad": { | ||
| "type": "number", | ||
| "description": "max value of estimated pitch [rad]", | ||
| "default": "0.1" | ||
| }, | ||
| "min_pitch_rad": { | ||
| "type": "number", | ||
| "description": "min value of estimated pitch [rad]", | ||
| "default": "-0.1" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "delay_compensation_time", | ||
| "enable_smooth_stop", | ||
| "enable_overshoot_emergency", | ||
| "enable_large_tracking_error_emergency", | ||
| "enable_slope_compensation", | ||
| "enable_keep_stopped_until_steer_convergence", | ||
| "drive_state_stop_dist", | ||
| "drive_state_offset_stop_dist", | ||
| "stopping_state_stop_dist", | ||
| "stopped_state_entry_duration_time", | ||
| "stopped_state_entry_vel", | ||
| "stopped_state_entry_acc", | ||
| "emergency_state_overshoot_stop_dist", | ||
| "emergency_state_traj_trans_dev", | ||
| "emergency_state_traj_rot_dev", | ||
| "kp", | ||
| "ki", | ||
| "kd", | ||
| "max_out", | ||
| "min_out", | ||
| "max_p_effort", | ||
| "min_p_effort", | ||
| "max_i_effort", | ||
| "min_i_effort", | ||
| "max_d_effort", | ||
| "min_d_effort", | ||
| "lpf_vel_error_gain", | ||
| "enable_integration_at_low_speed", | ||
| "current_vel_threshold_pid_integration", | ||
| "time_threshold_before_pid_integration", | ||
| "enable_brake_keeping_before_stop", | ||
| "brake_keeping_acc", | ||
| "smooth_stop_max_strong_acc", | ||
| "smooth_stop_min_strong_acc", | ||
| "smooth_stop_weak_acc", | ||
| "smooth_stop_weak_stop_acc", | ||
| "smooth_stop_strong_stop_acc", | ||
| "smooth_stop_max_fast_vel", | ||
| "smooth_stop_min_running_vel", | ||
| "smooth_stop_min_running_acc", | ||
| "smooth_stop_weak_stop_time", | ||
| "smooth_stop_weak_stop_dist", | ||
| "smooth_stop_strong_stop_dist", | ||
| "stopped_vel", | ||
| "stopped_acc", | ||
| "stopped_jerk", | ||
| "emergency_vel", | ||
| "emergency_acc", | ||
| "emergency_jerk", | ||
| "max_acc", | ||
| "min_acc", | ||
| "max_jerk", | ||
| "min_jerk", | ||
| "max_acc_cmd_diff", | ||
| "lpf_pitch_gain", | ||
| "slope_source", | ||
| "adaptive_trajectory_velocity_th", | ||
| "max_pitch_rad", | ||
| "min_pitch_rad" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/autoware_pid_longitudinal_controller" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
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