20 "modules/control/control_component/conf/pipeline.pb.txt",
21 "default control conf data file");
24 "modules/control/conf/control_conf.pb.txt",
25 "default control conf data file");
28 "modules/control/conf/mpc_controller_conf.pb.txt",
29 "mpc controller conf data file");
32 "modules/control/conf/lateral_controller_conf.pb.txt",
33 "lateral controller conf data file");
36 longitudinal_controller_conf_file,
37 "modules/control/conf/longitudinal_controller_conf.pb.txt",
38 "longitudinal controller conf data file");
41 calibration_table_file,
42 "modules/control/control_component/conf/calibration_table.pb.txt",
43 "calibration table file");
47DEFINE_bool(enable_csv_debug,
false,
"True to write out csv debug file.");
50 "preprocessor submodule name in proto");
53 "MPC controller node name in proto");
55DEFINE_string(lat_lon_controller_submodule_name,
"LatLonControllerSubmodule",
56 "lateral+longitudinal controller node name in proto");
59 "postprocessor submodule name in proto");
61DEFINE_bool(is_control_test_mode,
false,
"True to run control in test mode");
63 "True to use preview speed for table lookup");
66 "Steer angle change rate in percentage.");
68 "Enable gain scheduler for higher vehicle speed");
71DEFINE_int32(chassis_pending_queue_size, 10,
"Max chassis pending queue size");
73 "Max planning pending queue size");
75 "Max planning status message pending queue size");
77 "Max localization pending queue size");
79 "Max pad message pending queue size");
81DEFINE_bool(reverse_heading_control,
false,
"test vehicle reverse control");
84 "only use the trajectory point in future");
87 enable_gear_drive_negative_speed_protection,
false,
88 "Enable estop to prevent following negative speed during gear drive");
91 "use control submodules instead of controller agent");
94 "enable input timestamp check");
96DEFINE_int32(max_localization_miss_num, 20,
"max localization miss num");
103 "max acceleration when stopped.");
106 "max path remain when stopped.");
108DEFINE_bool(enable_persistent_estop,
true,
"enable persistent estop");
126DEFINE_bool(use_vehicle_epb,
false,
"enable epb brake for vehicle.");
128DEFINE_double(pitch_offset_deg, 0.0,
"vehicle pitch offset when in horizon.");
131 "True to run control in ut test mode");
134 "True to run control in ut test mode");
137 "only use the trajectory point in future");
141DEFINE_bool(use_throttle_filter,
false,
"use throttle smooth filter");
148 "use calibration dimension equal check");
DEFINE_string(pipeline_file, "modules/control/control_component/conf/pipeline.pb.txt", "default control conf data file")
DEFINE_double(control_test_duration, -1.0, "control test duration")
DEFINE_int32(chassis_pending_queue_size, 10, "Max chassis pending queue size")
DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file.")