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refactor(control/pid_longitudinal_controller): rework parameters (#6707)
* reset and re-apply refactoring Signed-off-by: Oguz <oguzkaganozt@gmail.com> * style(pre-commit): autofix * . Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com> * . Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com> --------- Signed-off-by: Oguz <oguzkaganozt@gmail.com> Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎control/autoware_pid_longitudinal_controller/CMakeLists.txt

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@@ -22,5 +22,5 @@ endif()
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ament_auto_package(
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INSTALL_TO_SHARE
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param
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config
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)

‎control/autoware_pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml ‎control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml

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# stopped state
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stopped_vel: 0.0
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stopped_acc: -3.4 # denotes pedal position
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stopped_jerk: -5.0
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# emergency state
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emergency_vel: 0.0

‎control/autoware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "autoware_pid_longitudinal_controller parameters",
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"type": "object",
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"definitions": {
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"autoware_pid_longitudinal_controller": {
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"type": "object",
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"properties": {
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"delay_compensation_time": {
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"type": "number",
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"description": "delay for longitudinal control [s]",
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"default": "0.17"
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},
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"enable_smooth_stop": {
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"type": "boolean",
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"description": "flag to enable transition to STOPPING",
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"default": "true"
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},
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"enable_overshoot_emergency": {
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"type": "boolean",
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"description": "flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`",
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"default": "true"
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},
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"enable_large_tracking_error_emergency": {
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"type": "boolean",
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"description": "flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose",
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"default": "true"
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},
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"enable_slope_compensation": {
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"type": "boolean",
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"description": "flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle",
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"default": "true"
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},
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"enable_keep_stopped_until_steer_convergence": {
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"type": "boolean",
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"description": "flag to keep stopped condition until until the steer converges",
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"default": "true"
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},
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"drive_state_stop_dist": {
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"type": "number",
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"description": "The state will transit to DRIVE when the distance to the stop point is longer than `drive_state_stop_dist` + `drive_state_offset_stop_dist` [m]",
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"default": "0.5"
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},
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"drive_state_offset_stop_dist": {
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"type": "number",
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"description": "The state will transit to DRIVE when the distance to the stop point is longer than `drive_state_stop_dist` + `drive_state_offset_stop_dist` [m]",
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"default": "1.0"
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},
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"stopping_state_stop_dist": {
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"type": "number",
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"description": "The state will transit to STOPPING when the distance to the stop point is shorter than `stopping_state_stop_dist` [m]",
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"default": "0.5"
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},
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"stopped_state_entry_duration_time": {
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"type": "number",
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"description": "threshold of the ego velocity in transition to the STOPPED state [s]",
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"default": "0.1"
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},
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"stopped_state_entry_vel": {
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"type": "number",
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"description": "threshold of the ego velocity in transition to the STOPPED state [m/s]",
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"default": "0.01"
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},
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"stopped_state_entry_acc": {
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"type": "number",
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"description": "threshold of the ego acceleration in transition to the STOPPED state [m/s^2]",
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"default": "0.1"
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},
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"emergency_state_overshoot_stop_dist": {
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"type": "number",
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"description": "If `enable_overshoot_emergency` is true and the ego is `emergency_state_overshoot_stop_dist`-meter ahead of the stop point, the state will transit to EMERGENCY. [m]",
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"default": "1.5"
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},
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"emergency_state_traj_trans_dev": {
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"type": "number",
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"description": "If the ego's position is `emergency_state_traj_trans_dev` meter away from the nearest trajectory point, the state will transit to EMERGENCY. [m]",
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"default": "3.0"
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},
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"emergency_state_traj_rot_dev": {
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"type": "number",
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"description": "If the ego's orientation is `emergency_state_traj_rot_dev` rad away from the nearest trajectory point orientation, the state will transit to EMERGENCY. [rad]",
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"default": "0.7854"
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},
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"kp": {
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"type": "number",
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"description": "p gain for longitudinal control",
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"default": "1.0"
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},
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"ki": {
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"type": "number",
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"description": "i gain for longitudinal control",
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"default": "0.1"
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},
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"kd": {
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"type": "number",
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"description": "d gain for longitudinal control",
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"default": "0.0"
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},
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"max_out": {
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"type": "number",
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"description": "max value of PID's output acceleration during DRIVE state [m/s^2]",
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"default": "1.0"
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},
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"min_out": {
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"type": "number",
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"description": "min value of PID's output acceleration during DRIVE state [m/s^2]",
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"default": "-1.0"
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},
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"max_p_effort": {
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"type": "number",
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"description": "max value of acceleration with p gain",
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"default": "1.0"
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},
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"min_p_effort": {
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"type": "number",
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"description": "min value of acceleration with p gain",
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"default": "-1.0"
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},
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"max_i_effort": {
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"type": "number",
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"description": "max value of acceleration with i gain ",
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"default": "0.3"
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},
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"min_i_effort": {
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"type": "number",
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"description": "min value of acceleration with i gain",
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"default": "-0.3"
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},
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"max_d_effort": {
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"type": "number",
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"description": "max value of acceleration with d gain",
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"default": "0.0"
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},
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"min_d_effort": {
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"type": "number",
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"description": "min value of acceleration with d gain ",
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"default": "0.0"
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},
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"lpf_vel_error_gain": {
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"type": "number",
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"description": "gain of low-pass filter for velocity",
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"default": "0.9"
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},
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"enable_integration_at_low_speed": {
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"type": "boolean",
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"description": "Whether to enable integration of acceleration errors when the vehicle speed is lower than `current_vel_threshold_pid_integration` or not.",
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"default": "false"
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},
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"current_vel_threshold_pid_integration": {
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"type": "number",
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"description": "Velocity error is integrated for I-term only when the absolute value of current velocity is larger than this parameter. [m/s]",
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"default": "0.5"
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},
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"time_threshold_before_pid_integration": {
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"type": "number",
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"description": "How much time without the vehicle moving must past to enable PID error integration. [s]",
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"default": "2.0"
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},
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"enable_brake_keeping_before_stop": {
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"type": "boolean",
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"description": "flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping]",
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"default": "false"
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},
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"brake_keeping_acc": {
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"type": "number",
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"description": "If `enable_brake_keeping_before_stop` is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See [Brake keeping]",
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"default": "-0.2"
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},
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"smooth_stop_max_strong_acc": {
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"type": "number",
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"description": "max strong acceleration [m/s^2]",
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"default": "-0.5"
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},
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"smooth_stop_min_strong_acc": {
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"type": "number",
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"description": "min strong acceleration [m/s^2]",
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"default": "-0.8"
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},
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"smooth_stop_weak_acc": {
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"type": "number",
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"description": "weak acceleration [m/s^2]",
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"default": "-0.3"
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},
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"smooth_stop_weak_stop_acc": {
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"type": "number",
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"description": "weak acceleration to stop right now [m/s^2]",
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"default": "-0.8"
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},
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"smooth_stop_strong_stop_acc": {
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"type": "number",
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"description": "strong acceleration to be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m/s^2]",
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"default": "-3.4"
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},
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"smooth_stop_max_fast_vel": {
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"type": "number",
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"description": "max fast vel to judge the ego is running fast [m/s]. If the ego is running fast, strong acceleration will be output.",
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"default": "0.5"
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},
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"smooth_stop_min_running_vel": {
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"type": "number",
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"description": "min ego velocity to judge if the ego is running or not [m/s]",
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"default": "0.01"
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},
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"smooth_stop_min_running_acc": {
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"type": "number",
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"description": "min ego acceleration to judge if the ego is running or not [m/s^2]",
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"default": "0.01"
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},
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"smooth_stop_weak_stop_time": {
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"type": "number",
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"description": "max time to output weak acceleration [s]. After this, strong acceleration will be output.",
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"default": "0.8"
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},
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"smooth_stop_weak_stop_dist": {
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"type": "number",
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"description": "Weak acceleration will be output when the ego is `smooth_stop_weak_stop_dist`-meter before the stop point. [m]",
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"default": "-0.3"
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},
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"smooth_stop_strong_stop_dist": {
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"type": "number",
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"description": "Strong acceleration will be output when the ego is `smooth_stop_strong_stop_dist`-meter over the stop point. [m]",
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"default": "-0.5"
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},
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"stopped_vel": {
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"type": "number",
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"description": "target velocity in STOPPED state [m/s]",
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"default": "0.0"
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},
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"stopped_acc": {
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"type": "number",
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"description": "target acceleration in STOPPED state [m/s^2]",
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"default": "-3.4"
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},
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"stopped_jerk": {
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"type": "number",
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"description": "target jerk in STOPPED state [m/s^3]",
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"default": "-5.0"
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},
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"emergency_vel": {
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"type": "number",
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"description": "target velocity in EMERGENCY state [m/s]",
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"default": "0.00"
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},
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"emergency_acc": {
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"type": "number",
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"description": "target acceleration in an EMERGENCY state [m/s^2]",
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"default": "-5.0"
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},
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"emergency_jerk": {
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"type": "number",
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"description": "target jerk in an EMERGENCY state [m/s^3]",
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"default": "-3.0"
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},
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"max_acc": {
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"type": "number",
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"description": "max value of output acceleration [m/s^2]",
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"default": "3.0"
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},
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"min_acc": {
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"type": "number",
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"description": "min value of output acceleration [m/s^2]",
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"default": "-5.0"
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},
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"max_jerk": {
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"type": "number",
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"description": "max value of jerk of output acceleration [m/s^3]",
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"default": "2.0"
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},
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"min_jerk": {
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"type": "number",
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"description": "min value of jerk of output acceleration [m/s^3]",
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"default": "-5.0"
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},
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"max_acc_cmd_diff": {
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"type": "number",
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"description": "max difference between the current and previous acceleration command [m/s^2 * s^-1]",
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"default": "50"
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},
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"lpf_pitch_gain": {
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"type": "number",
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"description": "gain of low-pass filter for pitch estimation",
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"default": "0.95"
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},
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"slope_source": {
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"type": "string",
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"description": "source of slope angle.",
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"default": "raw_pitch"
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},
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"adaptive_trajectory_velocity_th": {
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"type": "number",
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"description": "threshold of the ego velocity to use adaptive trajectory velocity [m/s]",
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"default": "1.0"
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},
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"max_pitch_rad": {
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"type": "number",
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"description": "max value of estimated pitch [rad]",
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"default": "0.1"
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},
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"min_pitch_rad": {
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"type": "number",
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"description": "min value of estimated pitch [rad]",
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"default": "-0.1"
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}
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},
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"required": [
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"delay_compensation_time",
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"enable_smooth_stop",
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"enable_overshoot_emergency",
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"enable_large_tracking_error_emergency",
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"enable_slope_compensation",
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"enable_keep_stopped_until_steer_convergence",
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"drive_state_stop_dist",
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"drive_state_offset_stop_dist",
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"stopping_state_stop_dist",
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"stopped_state_entry_duration_time",
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"stopped_state_entry_vel",
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"stopped_state_entry_acc",
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"emergency_state_overshoot_stop_dist",
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"emergency_state_traj_trans_dev",
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"emergency_state_traj_rot_dev",
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"kp",
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"ki",
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"kd",
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"max_out",
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"min_out",
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"max_p_effort",
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"min_p_effort",
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"max_i_effort",
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"min_i_effort",
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"max_d_effort",
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"min_d_effort",
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"lpf_vel_error_gain",
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"enable_integration_at_low_speed",
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"current_vel_threshold_pid_integration",
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"time_threshold_before_pid_integration",
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"enable_brake_keeping_before_stop",
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"brake_keeping_acc",
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"smooth_stop_max_strong_acc",
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"smooth_stop_min_strong_acc",
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"smooth_stop_weak_acc",
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"smooth_stop_weak_stop_acc",
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"smooth_stop_strong_stop_acc",
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"smooth_stop_max_fast_vel",
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"smooth_stop_min_running_vel",
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"smooth_stop_min_running_acc",
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"smooth_stop_weak_stop_time",
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"smooth_stop_weak_stop_dist",
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"smooth_stop_strong_stop_dist",
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"stopped_vel",
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"stopped_acc",
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"stopped_jerk",
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"emergency_vel",
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"emergency_acc",
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"emergency_jerk",
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"max_acc",
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"min_acc",
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"max_jerk",
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"min_jerk",
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"max_acc_cmd_diff",
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"lpf_pitch_gain",
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"slope_source",
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"adaptive_trajectory_velocity_th",
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"max_pitch_rad",
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"min_pitch_rad"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/autoware_pid_longitudinal_controller"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

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