Apollo 11.0
自动驾驶开放平台
pit_forward_param.pb.txt
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1ts: 0.01
2brake_minimum_action: 0.0
3throttle_minimum_action: 0.0
4speed_controller_input_limit: 2.5
5station_error_limit: 2.5
6preview_window: 20.0
7standstill_acceleration: -2.0
8standstill_narmal_acceleration: -0.5
9stop_gain_acceleration: -1.0
10speed_itfc_stop_speed: 0.05
11
12station_pid_conf {
13 pid_conf {
14 integrator_enable: true
15 integrator_saturation_level: 1.5
16 kp: 0.5
17 ki: 0.3
18 kd: 0.0
19 }
20
21 speed_input: 0.0
22 speed_input: 0.55
23 speed_input: 1.05
24 speed_input: 3.0
25 speed_input: 5.0
26
27 kp_speed_gain_output:1.0
28 kp_speed_gain_output:1.0
29 kp_speed_gain_output:1.0
30 kp_speed_gain_output:1.0
31 kp_speed_gain_output:1.0
32
33 ki_speed_gain_output:1.0
34 ki_speed_gain_output:1.0
35 ki_speed_gain_output:1.0
36 ki_speed_gain_output:1.0
37 ki_speed_gain_output:1.0
38
39 kd_speed_gain_output:1.0
40 kd_speed_gain_output:1.0
41 kd_speed_gain_output:1.0
42 kd_speed_gain_output:1.0
43 kd_speed_gain_output:1.0
44}
45speed_pid_conf {
46 pid_conf {
47 integrator_enable: true
48 integrator_saturation_level: 1.0
49 kp: 1.0
50 ki: 0.2
51 kd: 0.0
52 }
53
54 speed_input: 0.0
55 speed_input: 0.55
56 speed_input: 1.05
57 speed_input: 3.0
58 speed_input: 5.0
59
60 kp_speed_gain_output:1.0
61 kp_speed_gain_output:1.0
62 kp_speed_gain_output:1.0
63 kp_speed_gain_output:1.0
64 kp_speed_gain_output:1.0
65
66 ki_speed_gain_output:1.0
67 ki_speed_gain_output:1.0
68 ki_speed_gain_output:1.0
69 ki_speed_gain_output:1.0
70 ki_speed_gain_output:1.0
71
72 kd_speed_gain_output:1.0
73 kd_speed_gain_output:1.0
74 kd_speed_gain_output:1.0
75 kd_speed_gain_output:1.0
76 kd_speed_gain_output:1.0
77}
78
79pitch_angle_filter_conf {
80 cutoff_freq: 5
81}
82
83station_leadlag_conf {
84 innerstate_saturation_level: 1000
85 alpha: 1.0
86 beta: 0.8
87 tau: 0.0
88}
89speed_leadlag_conf {
90 innerstate_saturation_level: 1000
91 alpha: 1.0
92 beta: 1.0
93 tau: 0.0
94}
95enable_reverse_leadlag_compensation: false
96
97enable_speed_station_preview: false
98enable_slope_offset: false
99use_acceleration_lookup_limit: false
100use_preview_reference_check: false
101
102steer_cmd_interval: 20.0
103use_steering_check: true
104
105pedestrian_stop_time: 15
106full_stop_long_time: 300.0
107full_stop_path_remain_gain: 0.5
108
109epb_change_count: 40
110
111use_check_pit: false
112battery_threshold: 90