chore(trajectory_follower): change control parameter for jpt8 (autowarefoundation#966)

Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp>

Author: KYabuuchi

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

@@ -24,12 +24,12 @@
     mpc_weight_heading_error_squared_vel: 0.03   # heading error * velocity weight in matrix Q
     mpc_weight_steering_input: 1.0               # steering error weight in matrix R
     mpc_weight_steering_input_squared_vel: 1.00  # steering error * velocity weight in matrix R
-    mpc_weight_lat_jerk: 0.0                     # lateral jerk weight in matrix R
+    mpc_weight_lat_jerk: 0.075                   # lateral jerk weight in matrix R
     mpc_weight_steer_rate: 0.0                   # steering rate weight in matrix R
     mpc_weight_steer_acc: 0.000001               # steering angular acceleration weight in matrix R
-    mpc_low_curvature_weight_lat_error: 0.05                   # lateral error weight in matrix Q in low curvature point
+    mpc_low_curvature_weight_lat_error: 0.1                    # lateral error weight in matrix Q in low curvature point
     mpc_low_curvature_weight_heading_error: 0.0                # heading error weight in matrix Q in low curvature point
-    mpc_low_curvature_weight_heading_error_squared_vel: 0.03   # heading error * velocity weight in matrix Q in low curvature point
+    mpc_low_curvature_weight_heading_error_squared_vel: 0.2    # heading error * velocity weight in matrix Q in low curvature point
     mpc_low_curvature_weight_steering_input: 1.0               # steering error weight in matrix R in low curvature point
     mpc_low_curvature_weight_steering_input_squared_vel: 2.00  # steering error * velocity weight in matrix R in low curvature point
     mpc_low_curvature_weight_lat_jerk: 0.0                     # lateral jerk weight in matrix R in low curvature point
@@ -45,7 +45,7 @@
 
     # -- 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
+    input_delay: 0.3                 # steering input delay time for delay compensation
     vehicle_model_steer_tau: 0.1     # 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]

autoware_launch/config/control/trajectory_follower/8/longitudinal/pid.param.yaml

@@ -20,8 +20,8 @@
     emergency_state_traj_rot_dev: 0.7854
 
     # drive state
-    kp: 2.0
-    ki: 0.02
+    kp: 0.5
+    ki: 0.0
     kd: 0.0
     max_out: 1.0
     min_out: -5.0
@@ -31,7 +31,7 @@
     min_i_effort: -0.3
     max_d_effort: 0.0
     min_d_effort: 0.0
-    lpf_vel_error_gain: 0.9
+    lpf_vel_error_gain: 0.99
     enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
     time_threshold_before_pid_integration: 2.0
@@ -41,7 +41,7 @@
     # smooth stop state
     smooth_stop_max_strong_acc: -0.8
     smooth_stop_min_strong_acc: -1.3
-    smooth_stop_weak_acc: -0.4
+    smooth_stop_weak_acc: -0.63
     smooth_stop_weak_stop_acc: -0.8
     smooth_stop_strong_stop_acc: -3.4
     smooth_stop_max_fast_vel: 0.5
@@ -61,6 +61,10 @@
 
     emergency_jerk: -3.0
 
+    # acceleration feedback
+    lpf_acc_error_gain: 0.98
+    acc_feedback_gain: 1.0
+
     # acceleration limit
     max_acc: 3.0
     min_acc: -5.0