Apollo 10.0
自动驾驶开放平台
controller_conf.pb.txt
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1ts: 0.01
2brake_minimum_action: 0.0
3throttle_minimum_action: 0.0
4speed_controller_input_limit: 1.5
5station_error_limit: 2.0
6preview_window: 20.0
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
18epb_change_count: 40
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
28station_pid_conf {
29 integrator_enable: false
30 integrator_saturation_level: 0.3
31 kp: 0.2
32 ki: 0.0
33 kd: 0.0
34}
35low_speed_pid_conf {
36 integrator_enable: true
37 integrator_saturation_level: 0.3
38 kp: 2.0
39 ki: 0.3
40 kd: 0.0
41}
42high_speed_pid_conf {
43 integrator_enable: true
44 integrator_saturation_level: 0.3
45 kp: 1.0
46 ki: 0.3
47 kd: 0.0
48}
49switch_speed: 3.0
50switch_speed_window: 0.0
51reverse_station_pid_conf {
52 integrator_enable: true
53 integrator_saturation_level: 0.5
54 kp: 0.4
55 ki: 0.1
56 kd: 0.0
57}
58reverse_speed_pid_conf {
59 integrator_enable: true
60 integrator_saturation_level: 0.5
61 kp: 0.8
62 ki: 0.3
63 kd: 0.0
64}
65reverse_station_leadlag_conf {
66 innerstate_saturation_level: 1000
67 alpha: 1.0
68 beta: 1.0
69 tau: 0.0
70}
71reverse_speed_leadlag_conf {
72 innerstate_saturation_level: 1000
73 alpha: 1.0
74 beta: 1.0
75 tau: 0.0
76}
77pitch_angle_filter_conf {
78 cutoff_freq: 5
79}
80pit_station_pid_conf {
81 integrator_enable: true
82 integrator_saturation_level: 1.5
83 kp: 0.5
84 ki: 0.3
85 kd: 0.0
86}
87pit_speed_pid_conf {
88 integrator_enable: true
89 integrator_saturation_level: 1.0
90 kp: 1.0
91 ki: 0.2
92 kd: 0.0
93}