Best Lap
53.97 s
Avg Lap (2-6)
53.97 s
Penalties
0 / 0.0 count / s
e_y RMS
1.129 m
vx Max
7.90 m/s
Steer Jerk RMS
0.301 rad/s
Solve Time p95
14.1 ms
Parameters
| mpc | |
| N | 20 |
| R | [100000.0, 0.0] |
| a_min | -1.6 m/s² |
| a_max | 0.7 m/s² |
| delta_max_deg | 32.0 deg (0.559 rad) |
| steer_rate_max | 0.35 |
| control_rate | 40.0 |
| steering_tire_angle_gain_var | 1.639 |
| accel_low_pass_gain | 1.0 |
| steer_low_pass_gain | 1.0 |
| wp_id_offset | 2 |
| use_max_kappa_pred | True |
| v_max | 30.0 km/h (8.333 m/s) |
| ay_max | 12.0 m/s² |
| Q | [600000.0, 100000000.0, 2000000.0] |
| QN | [1000000.0, 1000000.0, 10000.0] |
| reference_path | |
| csv_path | env/final_ver4/traj_mincurv.csv |
| resolution | 0.6 |