Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

docs(trajectory_follower_node): add missing parameter description #476

Merged
merged 3 commits into from
Mar 22, 2022
Merged

docs(trajectory_follower_node): add missing parameter description #476

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
4324cfd
update mpc doc
TakaHoribe Mar 3, 2022
3a8d118
apply format
TakaHoribe Mar 3, 2022
c2c25ab
fix typo
TakaHoribe Mar 22, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
32 changes: 18 additions & 14 deletions control/trajectory_follower_nodes/design/lateral_controller-design.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ when following a path.
- How does it work? -->
The node uses an implementation of linear model predictive control (MPC) for accurate path tracking.
The MPC uses a model of the vehicle to simulate the trajectory resulting from the control command.
The optimization of the control command is formulated as a Quadradic Program (QP).
The optimization of the control command is formulated as a Quadratic Program (QP).

These functionalities are implemented in the `trajectory_follower` package
(see @subpage trajectory_follower-mpc-design)
Expand All @@ -42,19 +42,23 @@ Output
The default parameters defined in `param/lateral_controller_defaults.yaml` are adjusted to the
AutonomouStuff Lexus RX 450h for under 40 km/h driving.

| Name | Type | Description | Default value |
| :-------------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------ | :------------ |
| show_debug_info | bool | display debug info | false |
| ctrl_period | double | control period [s] | 0.03 |
| traj_resample_dist | double | distance of waypoints in resampling [m] | 0.1 |
| enable_path_smoothing | bool | path smoothing flag. This should be true when uses path resampling to reduce resampling noise. | true |
| path_filter_moving_ave_num | int | number of data points moving average filter for path smoothing | 35 |
| path_smoothing_times | int | number of times of applying path smoothing filter | 1 |
| curvature_smoothing_num_ref_steer | double | index distance of points used in curvature calculation for reference steer command: p(i-num), p(i), p(i+num). larger num makes less noisy values. | 35 |
| curvature_smoothing_num_traj | double | index distance of points used in curvature calculation for trajectory: p(i-num), p(i), p(i+num). larger num makes less noisy values. | 1 |
| steering_lpf_cutoff_hz | double | cutoff frequency of lowpass filter for steering output command [hz] | 3.0 |
| admissible_position_error | double | stop vehicle when following position error is larger than this value [m]. | 5.0 |
| admissible_yaw_error_rad | double | stop vehicle when following yaw angle error is larger than this value [rad]. | 1.57 |
| Name | Type | Description | Default value |
| :------------------------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------ | :------------ |
| show_debug_info | bool | display debug info | false |
| ctrl_period | double | control period [s] | 0.03 |
| traj_resample_dist | double | distance of waypoints in resampling [m] | 0.1 |
| enable_path_smoothing | bool | path smoothing flag. This should be true when uses path resampling to reduce resampling noise. | true |
| path_filter_moving_ave_num | int | number of data points moving average filter for path smoothing | 35 |
| path_smoothing_times | int | number of times of applying path smoothing filter | 1 |
| curvature_smoothing_num_ref_steer | double | index distance of points used in curvature calculation for reference steer command: p(i-num), p(i), p(i+num). larger num makes less noisy values. | 35 |
| curvature_smoothing_num_traj | double | index distance of points used in curvature calculation for trajectory: p(i-num), p(i), p(i+num). larger num makes less noisy values. | 1 |
| steering_lpf_cutoff_hz | double | cutoff frequency of lowpass filter for steering output command [hz] | 3.0 |
| admissible_position_error | double | stop vehicle when following position error is larger than this value [m]. | 5.0 |
| admissible_yaw_error_rad | double | stop vehicle when following yaw angle error is larger than this value [rad]. | 1.57 |
| stop_state_entry_ego_speed <sup>\*1</sup> | double | threshold value of the ego vehicle speed used to the stop state entry condition | 0.0 |
| stop_state_entry_target_speed <sup>\*1</sup> | double | threshold value of the target speed used to the stop state entry condition | 0.0 |

(\*1) To prevent unnecessary steering movement, the steering command is fixed to the previous value in the stop state.

### MPC algorithm

Expand Down