Apollo 10.0
自动驾驶开放平台
controller_conf.pb.txt
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1ts: 0.01
2cf: 155494.663
3cr: 155494.663
4mass_fl: 45
5mass_fr: 45
6mass_rl: 57
7mass_rr: 57
8eps: 0.01
9matrix_q: 40.0
10matrix_q: 0.0
11matrix_q: 30.0
12matrix_q: 0.0
13matrix_q: 70.0
14matrix_q: 10.0
15matrix_r: 3.25
16matrix_r: 1.0
17cutoff_freq: 10
18mean_filter_window_size: 10
19max_iteration: 3000
20max_lateral_acceleration: 4.0
21standstill_acceleration: -1.0
22brake_minimum_action: 1.0
23throttle_minimum_action: 1.0
24enable_mpc_feedforward_compensation: false
25use_lookup_acc_pid: true
26use_pitch_angle_filter: true
27lat_err_gain_scheduler {
28 scheduler {
29 speed: 0.6
30 ratio: 1.5
31 }
32 scheduler {
33 speed: 1.2
34 ratio: 1.0
35 }
36 scheduler {
37 speed: 2.0
38 ratio: 0.6
39 }
40 scheduler {
41 speed: 3.0
42 ratio: 0.2
43 }
44 scheduler {
45 speed: 4.0
46 ratio: 0.05
47 }
48 scheduler {
49 speed: 10.0
50 ratio: 0.4
51 }
52 scheduler {
53 speed: 15.0
54 ratio: 0.3
55 }
56 scheduler {
57 speed: 20.0
58 ratio: 0.2
59 }
60 scheduler {
61 speed: 25.0
62 ratio: 0.1
63 }
64}
65heading_err_gain_scheduler {
66 scheduler {
67 speed: 0.6
68 ratio: 1.5
69 }
70 scheduler {
71 speed: 1.0
72 ratio: 1.2
73 }
74 scheduler {
75 speed: 1.5
76 ratio: 1.0
77 }
78 scheduler {
79 speed: 2.0
80 ratio: 0.8
81 }
82 scheduler {
83 speed: 20.0
84 ratio: 0.2
85 }
86 scheduler {
87 speed: 25.0
88 ratio: 0.1
89 }
90}
91feedforwardterm_gain_scheduler {
92 scheduler {
93 speed: 2.5
94 ratio: 0.7
95 }
96 scheduler {
97 speed: 5.0
98 ratio: 0.05
99 }
100 scheduler {
101 speed: 10.0
102 ratio: 0.0
103 }
104 scheduler {
105 speed: 15.0
106 ratio: 0.0
107 }
108 scheduler {
109 speed: 20.0
110 ratio: 0.0
111 }
112 scheduler {
113 speed: 25.0
114 ratio: 0.0
115 }
116}
117steer_weight_gain_scheduler {
118 scheduler {
119 speed: 2.5
120 ratio: 1.0
121 }
122 scheduler {
123 speed: 5.0
124 ratio: 1.0
125 }
126 scheduler {
127 speed: 10.0
128 ratio: 1.1
129 }
130 scheduler {
131 speed: 15.0
132 ratio: 1.1
133 }
134 scheduler {
135 speed: 20.0
136 ratio: 1.35
137 }
138 scheduler {
139 speed: 25.0
140 ratio: 1.55
141 }
142}
143acc_lookup_pid_conf {
144 integrator_enable: true
145 integrator_saturation_level: 0.3
146 kp: 0.1
147 ki: 0.0
148 kd: 0.0
149}