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
 
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: 520
  mass_fr: 520
  mass_rl: 520
  mass_rr: 520
  eps: 0.01
  matrix_q: 0.005
  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: 100
  max_lateral_acceleration: 5.0
  lat_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: 0.3
    }
    scheduler {
      speed: 25.0
      ratio: 0.2
    }
  }
  heading_err_gain_scheduler {
    scheduler {
      speed: 4.0
      ratio: 1.0
    }
    scheduler {
      speed: 8.0
      ratio: 0.6
    }
    scheduler {
      speed: 12.0
      ratio: 0.6
    }
    scheduler {
      speed: 20.0
      ratio: 0.4
    }
    scheduler {
      speed: 25.0
      ratio: 0.4
    }
  }
  enable_steer_mrac_control: true
  steer_mrac_conf {
    mrac_model_order: 1
    reference_time_constant: 0.01
    reference_natural_frequency: 10
    reference_damping_ratio: 0.9
    adaption_state_gain: 1.0
    adaption_desired_gain: 1.0
    adaption_nonlinear_gain: 1.0
    adaption_matrix_p: 1.0
    mrac_saturation_level: 1.0
    anti_windup_compensation_gain: 0.0
  }
}
lon_controller_conf {
  ts: 0.01
  speed_controller_input_limit: 3.0
  station_error_limit: 3.0
  preview_window: 40.0
  standstill_acceleration: -3.0
  station_pid_conf {
    integrator_enable: false
    integrator_saturation_level: 0.1
    output_saturation_level: 3.0
    kp: 0.1
    ki: 0.0
    kd: 0.0
  }
  low_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    output_saturation_level: 3.0
    kp: 1.5
    ki: 0.5
    kd: 0.0
    kaw: 1.0
  }
  high_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    output_saturation_level: 3.0
    kp: 1.5
    ki: 0.5
    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: 0.1
    kp: 0.05
    ki: 0.0
    kd: 0.0
  }
  reverse_station_leadlag_conf {
    innerstate_saturation_level: 100
    alpha: 0.2
    beta: 1.0
    tau: 0.1
  }
  reverse_speed_leadlag_conf {
    innerstate_saturation_level: 30
    alpha: 0.35
    beta: 1.0
    tau: 0.1
  }
  pitch_angle_filter_conf {
    cutoff_freq: 5
  }
  calibration_table {
    calibration {
      speed: 0.0
      acceleration: -3.54
      command: -30.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.01
      command: 80.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.02
      command: -20.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.21
      command: 50.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.31
      command: 15.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.32
      command: -17.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.35
      command: -15.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.51
      command: 10.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.53
      command: -13.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.54
      command: 13.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.61
      command: 80.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.7
      command: 17.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.85
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.23
      command: 22.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.33
      command: 20.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.36
      command: 70.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.42
      command: 35.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.48
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.49
      command: 50.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.59
      command: 22.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.66
      command: 75.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.67
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.72
      command: 60.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.74
      command: 55.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.81
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.82
      command: 60.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.88
      command: 30.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.0
      command: 45.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.05
      command: 25.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.06
      command: 50.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.08
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.24
      command: 27.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.33
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.53
      command: 35.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.56
      command: 50.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.57
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.69
      command: 60.0
    }
    calibration {
      speed: 0.0
      acceleration: 3.26
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 3.54
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 3.8
      command: 65.0
    }
    calibration {
      speed: 0.2
      acceleration: -2.66
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -2.52
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -2.36
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -2.15
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.89
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.67
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.46
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.45
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.4
      command: -35.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.37
      command: -33.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.36
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.05
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.95
      command: -25.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.69
      command: -27.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.54
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.52
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.29
      command: -22.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.21
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.01
      command: 80.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.02
      command: -20.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.11
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.21
      command: 50.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.31
      command: 15.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.32
      command: -17.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.35
      command: -15.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.38
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.51
      command: 10.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.53
      command: -13.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.54
      command: 13.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.61
      command: 80.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.63
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.7
      command: 17.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.85
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.23
      command: 22.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.32
      command: 20.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.36
      command: 70.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.42
      command: 35.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.48
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.49
      command: 50.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.59
      command: 22.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.66
      command: 75.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.67
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.72
      command: 60.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.74
      command: 55.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.82
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.88
      command: 30.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.92
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.99
      command: 80.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.05
      command: 25.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.06
      command: 50.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.08
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.24
      command: 36.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.33
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.53
      command: 35.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.56
      command: 50.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.57
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.69
      command: 60.0
    }
    calibration {
      speed: 0.2
      acceleration: 3.26
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 3.54
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 3.8
      command: 65.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.7
      command: -35.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.66
      command: -33.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.59
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.39
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.34
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.31
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.29
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.27
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.26
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.22
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.19
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.18
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.16
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.12
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.09
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.04
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.03
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -1.54
      command: -27.0
    }
    calibration {
      speed: 0.4
      acceleration: -1.1
      command: -25.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.43
      command: -22.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.31
      command: -15.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.33
      command: -1.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.37
      command: 13.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.41
      command: -13.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.42
      command: 10.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.68
      command: 17.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.26
      command: 20.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.28
      command: 22.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.59
      command: 22.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.95
      command: 25.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.05
      command: 27.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.13
      command: 30.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.36
      command: 35.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.39
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.42
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.46
      command: 65.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.49
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.55
      command: 50.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.57
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.6
      command: 80.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.61
      command: 50.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.66
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.67
      command: 55.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.69
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.71
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.73
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.76
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.77
      command: 50.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.8
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.82
      command: 80.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.83
      command: 75.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.87
      command: 45.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.89
      command: 80.0
    }
    calibration {
      speed: 0.4
      acceleration: 3.06
      command: 50.0
    }
    calibration {
      speed: 0.4
      acceleration: 3.12
      command: 80.0
    }
    calibration {
      speed: 0.4
      acceleration: 3.18
      command: 55.0
    }
    calibration {
      speed: 0.4
      acceleration: 3.28
      command: 60.0
    }
    calibration {
      speed: 0.6
      acceleration: -4.2
      command: -35.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.79
      command: -33.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.18
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.13
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.1
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.07
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -3.04
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.96
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.94
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.93
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.88
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.87
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.84
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.82
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.81
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.77
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -1.84
      command: -27.0
    }
    calibration {
      speed: 0.6
      acceleration: -1.31
      command: -25.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.49
      command: -22.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.26
      command: -15.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.27
      command: -17.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.3
      command: 15.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.36
      command: -13.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.37
      command: 13.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.38
      command: 10.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.65
      command: 17.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.21
      command: 20.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.32
      command: 22.0
    }
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    calibration {
      speed: 10.0
      acceleration: 3.01
      command: 65.0
    }
    calibration {
      speed: 10.0
      acceleration: 3.17
      command: 60.0
    }
    calibration {
      speed: 10.0
      acceleration: 3.3
      command: 80.0
    }
    calibration {
      speed: 10.0
      acceleration: 3.45
      command: 80.0
    }
    calibration {
      speed: 10.0
      acceleration: 4.19
      command: 75.0
    }
    calibration {
      speed: 10.0
      acceleration: 4.34
      command: 70.0
    }
  }
}