2brake_minimum_action: 0.0
3throttle_minimum_action: 0.0
4speed_controller_input_limit: 1.5
5station_error_limit: 2.0
7standstill_acceleration: -0.3
8enable_reverse_leadlag_compensation:
false
9use_preview_reference_check:
false
10steer_cmd_interval: 20.0
11enable_speed_station_preview:
false
12enable_slope_offset:
false
13use_acceleration_lookup_limit:
false
14use_steering_check:
true
15pedestrian_stop_time: 15
16standstill_narmal_acceleration: -0.5
17full_stop_long_time: 3.0
19stop_gain_acceleration: -1.0
20full_stop_path_remain_gain: 0.3
21use_opposite_slope_compensation: 1
22speed_itfc_full_stop_speed: 0.09
23speed_itfc_path_remain_min: 0.10
24speed_itfc_dcc_emergency: -1.5
25speed_itfc_speed_cmd: 0.10
26speed_itfc_path_remain_max: 0.6
27speed_itfc_acc_thres: 0.0
29 integrator_enable:
false
30 integrator_saturation_level: 0.3
36 integrator_enable:
true
37 integrator_saturation_level: 0.3
43 integrator_enable:
true
44 integrator_saturation_level: 0.3
50switch_speed_window: 0.0
51reverse_station_pid_conf {
52 integrator_enable:
true
53 integrator_saturation_level: 0.5
58reverse_speed_pid_conf {
59 integrator_enable:
true
60 integrator_saturation_level: 0.5
65reverse_station_leadlag_conf {
66 innerstate_saturation_level: 1000
71reverse_speed_leadlag_conf {
72 innerstate_saturation_level: 1000
77pitch_angle_filter_conf {
81 integrator_enable:
true
82 integrator_saturation_level: 1.5
88 integrator_enable:
true
89 integrator_saturation_level: 1.0