precise_forward_param.pb.txt

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speed_path_remain: 0.20
use_parking_speed_control: true
speed_control_min_speed: 0.05
openspace_r_std_v: 0.36
openspace_r_err: 0.06
openspace_cmd_change: 0.03
pitch_start_throttle: 8.0
speed_control_pitch_thres: -1.0
openspace_start_num: 120
openspace_r_err_big: 0.18
openspace_brk_change: 0.1
openspace_max_brk: 10.0
 
openspace_start_throttle: 20.0
openspace_maintain_throttle: 13.0
use_maintain_throttle: false
 
fullstop_window:80
full_stop_max_brake: 25
path_remain: 0.18
pitch_path_remain_param: 0.0
 
brake_minimum_action: 4.0
throttle_minimum_action: 0.0
 
standstill_acceleration: -2.0
standstill_narmal_acceleration: -0.5
stop_gain_acceleration: -1.0
 
station_pid_conf {
  pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.4
    kp: 0.4
    ki: 0.2
    kd: 0.0
  }
 
  speed_input: 0.0
  speed_input: 0.55
  speed_input: 1.05
  speed_input: 2.0
  speed_input: 5.0
 
  kp_speed_gain_output:1.0
  kp_speed_gain_output:1.0
  kp_speed_gain_output:1.0
  kp_speed_gain_output:1.0
  kp_speed_gain_output:1.0
 
  ki_speed_gain_output:1.0
  ki_speed_gain_output:1.0
  ki_speed_gain_output:1.0
  ki_speed_gain_output:1.0
  ki_speed_gain_output:1.0
 
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
}
 
speed_pid_conf {
  pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    kp: 0.5
    ki: 0.05
    kd: 0.0
  }
 
  speed_input: 0.0
  speed_input: 0.95
  speed_input: 1.05
  speed_input: 2.0
  speed_input: 5.0
 
  kp_speed_gain_output:3.0
  kp_speed_gain_output:3.0
  kp_speed_gain_output:2.0
  kp_speed_gain_output:2.0
  kp_speed_gain_output:1.0
 
  ki_speed_gain_output:6.0
  ki_speed_gain_output:6.0
  ki_speed_gain_output:4.0
  ki_speed_gain_output:4.0
  ki_speed_gain_output:1.0
 
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
  kd_speed_gain_output:1.0
}
 
speed_itfc_full_stop_speed: 0.09
speed_itfc_path_remain_min: 0.10
speed_itfc_dcc_emergency: -1.5
speed_itfc_speed_cmd: 0.10
speed_itfc_path_remain_max: 0.6
speed_itfc_acc_thres: 0.0
speed_itfc_stop_speed: 0.05
 
steer_cmd_interval: 20.0
use_steering_check: true
 
pedestrian_stop_time: 15
full_stop_long_time: 300.0
full_stop_path_remain_gain: 0.5
 
epb_change_count: 40
epb_brake: 60.0
 
full_stop_pitch_brake_param: 150
max_brk_downhill_change_rate: 0.4
 
battery_threshold: 90