feat(mpc.param.yaml): fix vehicle_model_steer_tau to restrain unstable trajectories for v0.46.0 (autowarefoundation#934)

* fix(mpc.param.yaml): fix vehicle_model_steer_tau

Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>

* fix(mpc.param.yaml): fix vehicle_model_steer_tau for id=10 and awsim

Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>

---------

Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>

Author: shtokuda

autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/10/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.3                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/8/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0, 18.0, 15.0, 12.0, 5.0, 2.25, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]

autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml

@@ -46,7 +46,7 @@
     # -- vehicle model --
     vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics
     input_delay: 0.1                 # steering input delay time for delay compensation
-    vehicle_model_steer_tau: 0.1     # steering dynamics time constant (1d approximation) [s]
+    vehicle_model_steer_tau: 0.25     # steering dynamics time constant (1d approximation) [s]
     steer_rate_lim_dps_list_by_curvature: [20.0, 20.0, 20.0]            # steering angle rate limit list depending on curvature [deg/s]
     curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01]              # curvature list for steering angle rate limit interpolation in ascending order [/m]
     steer_rate_lim_dps_list_by_velocity: [18.0,  18.0,   15.0,   12.0,   5.0,  2.25,  1.5 ,  1.5 ,  1.5]  # steering angle rate limit list depending on velocity [deg/s] [72, 72, 36, 18, 9, 3.6, 3.6]