public_road_param.pb.txt

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ts: 0.01
epb_brake_cmd: 60
slope_offset_threhold: 0.5
path_remain_threshold: 0.5
new_dest_path_remain_threshold: 5.0
use_opposite_slope_compensation: 1
enable_slope_offset: true
hill_start_pitch_threshold: -2.0
hill_start_preview_window: 300
hill_start_min_speed: 0.1
hill_start_acc_window: 200
hill_start_brake_window: 150
gravity_hill_start_gain: 0.9
enable_hill_start: true
min_hill_start_station_remain: 1.0
hill_start_quit_window: 250
hill_start_still_speed: 0.01
downhill_brake_rate: 0.5
cut_hill_up_throttle_speed: -0.2
cut_hill_up_throttle_rate: 0.05
hill_up_acc_rate: 0.7
hill_start_brake_standby_window: 75
kill_downhill_brake_rate: 0.5
downhill_cut_brake_v_err: 0.4
quit_hill_start_v_err: 0.0
release_end_brake_speed: 0.1
uphill_start_pitch: 1.0
normal_start_pitch: -3.0
normal_start_gain_window: 50
normal_start_maintain_window: 200
normal_acc_rate: 0.8
 
obstacle_speed_safety_threshold: 0.1
obstacle_acc_threshold: 0.1
obstacle_stop_window_threshold: 50
quit_opbstacle_window: 500
obstacle_throttle_cmd_threshold: 10.0
obstacle_brake_cmd_threshold: 5.0
in_obstacle_preview_speed: 0.25
obs_throttle_add_rate: 0.5
obs_throttle_add_default: 10.0
min_throttle_time_window: 70
quit_opbstacle_safety_high_speed: 0.5
speed_stable_window: 70
speed_stable: 0.3
 
uphill_fullstop_pathremain: 0.2
uphill_fullstop_window: 75
 
downhill_brake_change: 0.04
 
cncl_brake_min_path: 0.2
cncl_brake_max_path: 3.0
cncl_max_brake: 10.0
maintain_min_speed: 0.5
cut_unusual_brk_speed_error: 0.2
 
downhill_brake_change_max: 0.1
 
brake_minimum_action:4.0
enable_normal_start: false
 
emergency_acc: -0.5
preview_min_speed_threshold: 0.1
 
slope_pitch_acc_gain_scheduler {
  pitch_scheduler {
    pitch: -10.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -6.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -3.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -1.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -0.4
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 0.0
    ratio: 0.0
  }
  pitch_scheduler {
    pitch: 0.2
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 1.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 3.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 6.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 10.0
    ratio: 1.0
  }
}
pitch_angle_filter_conf {
  cutoff_freq: 5
}