control_conf.pb.txt

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control_test_duration: -1
enable_csv_debug: false
enable_speed_station_preview: false
is_control_test_mode: false
use_preview_speed_for_table: false
enable_input_timestamp_check: false
max_localization_miss_num : 20
max_planning_miss_num: 20
max_acceleration_when_stopped : 0.01
steer_angle_rate: 100
enable_gain_scheduler: true
set_steer_limit: true
enable_slope_offset: false
enable_persistent_estop: false
 
control_period: 0.01
trajectory_period: 0.1
chassis_period: 0.01
localization_period: 0.01
max_status_interval_sec: 0.1
max_planning_interval_sec: 0.2
max_planning_delay_threshold: 4.0
action: STOP
soft_estop_brake: 50.0
active_controllers: LAT_CONTROLLER
active_controllers: LON_CONTROLLER
max_steering_percentage_allowed: 100
minimum_speed_resolution: 0.2
query_relative_time: 0.8
minimum_speed_protection: 0.1
lat_controller_conf {
  ts: 0.01
  preview_window: 0
  cf: 155494.663
  cr: 155494.663
  mass_fl: 530
  mass_fr: 530
  mass_rl: 530
  mass_rr: 530
  eps: 0.01
  matrix_q: 0.05
  matrix_q: 0.0
  matrix_q: 1.0
  matrix_q: 0.0
  reverse_matrix_q: 0.5
  reverse_matrix_q: 0.0
  reverse_matrix_q: 0.4
  reverse_matrix_q: 0.0
  cutoff_freq: 10
  mean_filter_window_size: 10
  max_iteration: 150
  max_lateral_acceleration: 5.0
  enable_reverse_leadlag_compensation: false
  lat_err_gain_scheduler {
    scheduler {
      speed: 4.0
      ratio: 1.0
    }
    scheduler {
      speed: 8.0
      ratio: 0.6
    }
    scheduler {
      speed: 12.0
      ratio: 0.2
    }
    scheduler {
      speed: 20.0
      ratio: 0.1
    }
    scheduler {
      speed: 25.0
      ratio: 0.05
    }
  }
  heading_err_gain_scheduler {
    scheduler {
      speed: 4.0
      ratio: 1.0
    }
    scheduler {
      speed: 8.0
      ratio: 0.6
    }
    scheduler {
      speed: 12.0
      ratio: 0.4
    }
    scheduler {
      speed: 20.0
      ratio: 0.2
    }
    scheduler {
      speed: 25.0
      ratio: 0.1
    }
  }
  reverse_leadlag_conf {
    innerstate_saturation_level: 3000
    alpha: 1.0
    beta: 1.0
    tau: 0.0
  }
}
lon_controller_conf {
  ts: 0.01
  brake_minimum_action: 0.0
  throttle_minimum_action: 0.0
  speed_controller_input_limit: 2.0
  station_error_limit: 2.0
  preview_window: 20.0
  standstill_acceleration: -3.0
  enable_reverse_leadlag_compensation: false
  station_pid_conf {
    integrator_enable: false
    integrator_saturation_level: 0.3
    kp: 0.2
    ki: 0.0
    kd: 0.0
  }
  low_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    kp: 0.5
    ki: 0.3
    kd: 0.0
  }
  high_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    kp: 1.0
    ki: 0.3
    kd: 0.0
  }
  switch_speed: 2.0
  reverse_station_pid_conf {
    integrator_enable: false
    integrator_saturation_level: 0.3
    kp: 0.2
    ki: 0.0
    kd: 0.0
  }
  reverse_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.2
    kp: 0.1
    ki: 0.05
    kd: 0.02
  }
  reverse_station_leadlag_conf {
    innerstate_saturation_level: 1000
    alpha: 1.0
    beta: 1.0
    tau: 0.0
  }
  reverse_speed_leadlag_conf {
    innerstate_saturation_level: 1000
    alpha: 1.0
    beta: 1.0
    tau: 0.0
  }
  pitch_angle_filter_conf {
    cutoff_freq: 5
  }
  calibration_table {
    calibration {
      speed: 0.0
      acceleration: -1.43
      command: -70.0
    }
    calibration {
      speed: 0.0
      acceleration: -1.3
      command: -90.0
    }
    calibration {
      speed: 0.0
      acceleration: -1.17
      command: -75.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.4
      command: -17.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.19
      command: -85.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.17
      command: -55.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.11
      command: -50.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.01
      command: -46.6666666667
    }
    calibration {
      speed: 0.0
      acceleration: 0.0
      command: -3.47368421053
    }
    calibration {
      speed: 0.0
      acceleration: 0.01
      command: -29.6
    }
    calibration {
      speed: 0.0
      acceleration: 0.02
      command: 35.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.03
      command: -47.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.04
      command: 7.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.07
      command: 20.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.08
      command: 10.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.22
      command: -40.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.23
      command: 70.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.29
      command: 35.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.35
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.43
      command: 95.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.47
      command: 85.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.52
      command: 30.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.64
      command: 50.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.65
      command: 75.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.15
      command: 65.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.25
      command: 60.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.94
      command: 90.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.92
      command: 100.0
    }
    calibration {
      speed: 0.2
      acceleration: -8.21
      command: -95.0
    }
    calibration {
      speed: 0.2
      acceleration: -8.07
      command: -100.0
    }
    calibration {
      speed: 0.2
      acceleration: -8.0
      command: -85.0
    }
    calibration {
      speed: 0.2
      acceleration: -7.91
      command: -90.0
    }
    calibration {
      speed: 0.2
      acceleration: -7.58
      command: -80.0
    }
    calibration {
      speed: 0.2
      acceleration: -6.92
      command: -75.0
    }
    calibration {
      speed: 0.2
      acceleration: -6.45
      command: -70.0
    }
    calibration {
      speed: 0.2
      acceleration: -5.79
      command: -65.0
    }
    calibration {
      speed: 0.2
      acceleration: -5.35
      command: -60.0
    }
    calibration {
      speed: 0.2
      acceleration: -4.6
      command: -55.0
    }
    calibration {
      speed: 0.2
      acceleration: -3.92
      command: -50.0
    }
    calibration {
      speed: 0.2
      acceleration: -3.38
      command: -45.0
    }
    calibration {
      speed: 0.2
      acceleration: -2.78
      command: -40.0
    }
    calibration {
      speed: 0.2
      acceleration: -2.4
      command: -35.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.74
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.21
      command: -25.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.89
      command: -20.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.84
      command: -19.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.67
      command: -17.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.57
      command: -16.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.56
      command: -14.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.5
      command: -15.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.45
      command: -13.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.42
      command: -11.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.31
      command: -10.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.2
      command: -8.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.11
      command: -7.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.07
      command: -6.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.06
      command: -3.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.05
      command: -4.5
    }
    calibration {
      speed: 0.2
      acceleration: -0.02
      command: -1.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.0
      command: 28.6
    }
    calibration {
      speed: 0.2
      acceleration: 0.01
      command: 25.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.02
      command: 67.5
    }
    calibration {
      speed: 0.2
      acceleration: 0.05
      command: 15.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.06
      command: 7.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.09
      command: 14.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.11
      command: 20.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.13
      command: 10.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.21
      command: 70.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.28
      command: 35.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.37
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.38
      command: 30.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.51
      command: 95.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.56
      command: 85.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.67
      command: 75.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.97
      command: 50.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.09
      command: 65.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.58
      command: 60.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.22
      command: 90.0
    }
    calibration {
      speed: 0.2
      acceleration: 3.36
      command: 100.0
    }
    calibration {
      speed: 0.4
      acceleration: -8.22
      command: -95.0
    }
    calibration {
      speed: 0.4
      acceleration: -8.07
      command: -100.0
    }
    calibration {
      speed: 0.4
      acceleration: -7.98
      command: -85.0
    }
    calibration {
      speed: 0.4
      acceleration: -7.95
      command: -80.0
    }
    calibration {
      speed: 0.4
      acceleration: -7.92
      command: -90.0
    }
    calibration {
      speed: 0.4
      acceleration: -6.93
      command: -75.0
    }
    calibration {
      speed: 0.4
      acceleration: -6.46
      command: -70.0
    }
    calibration {
      speed: 0.4
      acceleration: -5.8
      command: -65.0
    }
    calibration {
      speed: 0.4
      acceleration: -5.36
      command: -60.0
    }
    calibration {
      speed: 0.4
      acceleration: -4.61
      command: -55.0
    }
    calibration {
      speed: 0.4
      acceleration: -3.93
      command: -50.0
    }
    calibration {
      speed: 0.4
      acceleration: -3.3
      command: -45.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.87
      command: -40.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.42
      command: -35.0
    }
    calibration {
      speed: 0.4
      acceleration: -1.74
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -1.22
      command: -25.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.88
      command: -20.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.8
      command: -19.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.67
      command: -17.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.57
      command: -16.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.53
      command: -14.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.51
      command: -15.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.45
      command: -13.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.38
      command: -11.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.33
      command: -10.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.19
      command: -8.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.12
      command: -7.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.09
      command: -6.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.06
      command: -5.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.05
      command: -3.5
    }
    calibration {
      speed: 0.4
      acceleration: -0.02
      command: -1.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.0
      command: 31.75
    }
    calibration {
      speed: 0.4
      acceleration: 0.02
      command: 53.3333333333
    }
    calibration {
      speed: 0.4
      acceleration: 0.1
      command: 7.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.11
      command: 14.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.15
      command: 20.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.17
      command: 10.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.24
      command: 70.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.25
      command: 15.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.29
      command: 35.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.3
      command: 16.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.37
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.39
      command: 30.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.57
      command: 95.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.6
      command: 50.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.62
      command: 85.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.72
      command: 75.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.96
      command: 60.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.19
      command: 65.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.5
      command: 90.0
    }
    calibration {
      speed: 0.4
      acceleration: 3.72
      command: 100.0
    }
    calibration {
      speed: 0.6
      acceleration: -8.22
      command: -95.0
    }
    calibration {
      speed: 0.6
      acceleration: -8.07
      command: -100.0
    }
    calibration {
      speed: 0.6
      acceleration: -7.97
      command: -85.0
    }
    calibration {
      speed: 0.6
      acceleration: -7.92
      command: -90.0
    }
    calibration {
      speed: 0.6
      acceleration: -7.91
      command: -80.0
    }
    calibration {
      speed: 0.6
      acceleration: -6.93
      command: -75.0
    }
    calibration {
      speed: 0.6
      acceleration: -6.46
      command: -70.0
    }
    calibration {
      speed: 0.6
      acceleration: -5.8
      command: -65.0
    }
    calibration {
      speed: 0.6
      acceleration: -5.36
      command: -60.0
    }
    calibration {
      speed: 0.6
      acceleration: -4.61
      command: -55.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.93
      command: -50.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.21
      command: -45.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.92
      command: -40.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.42
      command: -35.0
    }
    calibration {
      speed: 0.6
      acceleration: -1.87
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -1.22
      command: -25.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.9
      command: -20.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.79
      command: -19.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.67
      command: -17.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.63
      command: -16.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.53
      command: -14.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.52
      command: -15.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.47
      command: -13.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.36
      command: -11.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.33
      command: -10.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.17
      command: -8.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.13
      command: -7.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.09
      command: -6.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.06
      command: -4.5
    }
    calibration {
      speed: 0.6
      acceleration: -0.05
      command: -3.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.02
      command: -1.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.01
      command: 45.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.0
      command: 27.3333333333
    }
    calibration {
      speed: 0.6
      acceleration: 0.02
      command: 53.3333333333
    }
    calibration {
      speed: 0.6
      acceleration: 0.1
      command: 7.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.16
      command: 10.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.24
      command: 14.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.26
      command: 70.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.29
      command: 35.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.32
      command: 16.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.33
      command: 15.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.37
      command: 40.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.38
      command: 20.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.39
      command: 30.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.57
      command: 95.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.61
      command: 50.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.63
      command: 85.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.74
      command: 75.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.97
      command: 60.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.28
      command: 65.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.74
      command: 90.0
    }
    calibration {
      speed: 0.6
      acceleration: 3.78
      command: 100.0
    }
    calibration {
      speed: 0.8
      acceleration: -8.23
      command: -95.0
    }
    calibration {
      speed: 0.8
      acceleration: -8.08
      command: -100.0
    }
    calibration {
      speed: 0.8
      acceleration: -7.96
      command: -85.0
    }
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
      speed: 9.8
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    calibration {
      speed: 9.8
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    calibration {
      speed: 9.8
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    calibration {
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    calibration {
      speed: 9.8
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    calibration {
      speed: 9.8
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    calibration {
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    calibration {
      speed: 9.8
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
      speed: 10.0
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
      speed: 10.0
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
      speed: 10.0
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
      speed: 10.0
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    calibration {
      speed: 10.0
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    calibration {
      speed: 240.0
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  }
}