public_road_backward_param.pb.txt

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ts: 0.01
preview_window: 0
cf: 126050
cr: 126050
mass_fl: 100
mass_fr: 100
mass_rl: 100
mass_rr: 100
eps: 0.01
matrix_q: 6.0
matrix_q: 1.0
matrix_q: 3.0
matrix_q: 0.0
cutoff_freq: 5
mean_filter_window_size: 10
max_iteration: 1000
max_lateral_acceleration: 4.0
enable_reverse_leadlag_compensation: false
enable_steer_mrac_control: false
enable_look_ahead_back_control: false
use_new_look_ahead_back: false
lookahead_station: 0.5
lookback_station: 0.85
lookahead_station_high_speed: 0.0
lookback_station_high_speed: 0.0
switch_speed: 2.0
switch_speed_window: 0.0
query_relative_time: 0.0
enable_navigation_mode_position_update: false
trajectory_transform_to_com_reverse: false
trajectory_transform_to_com_drive: false
enable_feedback_augment_on_high_speed: false
enable_maximum_steer_rate_limit: false
lock_steer_speed: -0.081
query_time_nearest_point_only: false
enable_navigation_mode_error_filter: false
reverse_feedforward_ratio: 0.5
reverse_use_dynamic_model: false
min_large_ref_cur: 0.1
 
straight_steering_percentage: 5
straight_min_velocity: 0.5
straight_max_ref_cur: 0.01
 
use_heading_auto_compensation: false
AHC_container_size: 300
AHC_mean_value_low_threshold: 0.01
AHC_mean_value_high_threshold: 0.05
AHC_peak_value_threshold: 0.02
 
enable_enhance_qparam: false
first_handle_heading_window: 0
out_first_handle_heading_window: 0
handle_lat_err_window: 120
handle_heading_err_window: 120
first_handle_heading_stage_prarm: 100
handle_lat_err_prarm_domain: 5
handle_lat_err_prarm_ignore: 0.5
handle_heading_err_parm_domain: 30
handle_heading_err_parm_ignore: 0.5
heading_err_threshold: 0.12
lat_err_threshold: 0.1
openspace_enhance_curv: 0.1
lat_err_position_add: -1.0
check_continous_errors_window: 5
com_change_rate:0.005
lat_continous_err_threshold: 0.1
use_continous_errors_check: false
choose_ref_point: USE_LAT_MATCH_COM
 
choose_track_point: USE_LAT_MATCH_LR
track_com_length: 1.4
 
use_turbulence_check: false
com_quit_turbulence_change_rate: 0.1
 
reverse_leadlag_conf {
  innerstate_saturation_level: 3000
  alpha: 1.0
  beta: 1.0
  tau: 0.0
}
 
steer_mrac_conf {
  mrac_model_order: 1
  reference_time_constant: 0.01
  reference_natural_frequency: 10
  reference_damping_ratio: 0.9
  adaption_state_gain: 1.0
  adaption_desired_gain: 1.0
  adaption_nonlinear_gain: 1.0
  adaption_matrix_p: 1.0
  mrac_saturation_level: 1.0
  anti_windup_compensation_gain: 0.0
}
 
speed_segment: 1.0
speed_segment: 2.0
speed_segment: 3.0
speed_segment: 5.0
 
changing_rate: 0.01
changing_rate: 0.005
changing_rate: 0.003
changing_rate: 0.001
 
lat_speed_input:2.0
lat_speed_input:2.5
lat_speed_input:3.0
lat_speed_input:3.5
lat_speed_input:4.0
lat_speed_input:4.5
 
lat_err_speed_gain_output:1.0
lat_err_speed_gain_output:0.8
lat_err_speed_gain_output:0.6
lat_err_speed_gain_output:0.3
lat_err_speed_gain_output:0.1
lat_err_speed_gain_output:0.08
 
lat_err_delta_speed_gain_output:1.0
lat_err_delta_speed_gain_output:1.0
lat_err_delta_speed_gain_output:1.0
lat_err_delta_speed_gain_output:1.0
lat_err_delta_speed_gain_output:1.0
lat_err_delta_speed_gain_output:1.0
 
heading_err_speed_gain_output:1.0
heading_err_speed_gain_output:0.8
heading_err_speed_gain_output:0.6
heading_err_speed_gain_output:0.2
heading_err_speed_gain_output:0.1
heading_err_speed_gain_output:0.08
 
heading_err_delta_speed_gain_output:1.0
heading_err_delta_speed_gain_output:1.0
heading_err_delta_speed_gain_output:1.0
heading_err_delta_speed_gain_output:1.0
heading_err_delta_speed_gain_output:1.0
heading_err_delta_speed_gain_output:1.0
 
lat_curvature_input:0.0
lat_curvature_input:0.1
lat_curvature_input:0.2
lat_curvature_input:0.3
lat_curvature_input:0.4
lat_curvature_input:0.5
 
lat_err_curvature_gain_output:1.0
lat_err_curvature_gain_output:1.0
lat_err_curvature_gain_output:1.0
lat_err_curvature_gain_output:1.0
lat_err_curvature_gain_output:1.0
lat_err_curvature_gain_output:1.0
 
lat_err_delta_curvature_gain_output:1.0
lat_err_delta_curvature_gain_output:1.0
lat_err_delta_curvature_gain_output:1.0
lat_err_delta_curvature_gain_output:1.0
lat_err_delta_curvature_gain_output:1.0
lat_err_delta_curvature_gain_output:1.0
 
heading_err_curvature_gain_output:1.0
heading_err_curvature_gain_output:1.0
heading_err_curvature_gain_output:1.0
heading_err_curvature_gain_output:1.0
heading_err_curvature_gain_output:1.0
heading_err_curvature_gain_output:1.0
 
heading_err_delta_curvature_gain_output:1.0
heading_err_delta_curvature_gain_output:1.0
heading_err_delta_curvature_gain_output:1.0
heading_err_delta_curvature_gain_output:1.0
heading_err_delta_curvature_gain_output:1.0
heading_err_delta_curvature_gain_output:1.0
 
lat_safety_check_conf {
  check_threshold {
    max_lateral_error_e: 0.1
    max_lateral_error_w: 0.06
  }
  use_lateral_error_e_check: true
  use_lateral_error_w_check: true
}
use_safety_check_output: false