From ac1f2d2ebda8f3ddd8d765021f3d1b2a615fa337 Mon Sep 17 00:00:00 2001 From: Shunichi09 Date: Wed, 9 Oct 2019 12:05:42 +0900 Subject: [PATCH] fix the parameters of main_track --- mpc/extend/main_track.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/mpc/extend/main_track.py b/mpc/extend/main_track.py index 1ee3c57..f78413f 100644 --- a/mpc/extend/main_track.py +++ b/mpc/extend/main_track.py @@ -289,7 +289,7 @@ def main(): iteration_num = int(simulation_time / dt) # make simulator with coninuous matrix - init_xs_lead = np.array([0., 0., math.pi/6, 0.]) + init_xs_lead = np.array([0., 0., math.pi/5, 0.]) lead_car = WheeledSystem(init_states=init_xs_lead) # make system model @@ -306,7 +306,7 @@ def main(): # get traj's curvature NUM_SKIP = 3 - MARGIN = 20 + MARGIN = 50 angles, curvatures = calc_curvatures(traj_ref[:, index_min + MARGIN:index_min + PREDICT_STEP + 2 * NUM_SKIP + MARGIN], PREDICT_STEP, NUM_SKIP) # save traj ref @@ -317,8 +317,8 @@ def main(): # input() # evaluation function weight - Q = np.diag([1000000., 10., 1.]) - R = np.diag([0.1]) + Q = np.diag([1e2, 1., 1e3]) + R = np.diag([1e2]) # System model update V = calc_ideal_vel(traj_ref, dt) # in pratical we should calc from the state