Best Lap
55.88 s
Avg Lap (2-6)
60.39 s
Penalties
0 / 0.0 count / s
e_y RMS
0.549 m
vx Max
7.86 m/s
Steer Jerk RMS
0.517 rad/s
Solve Time p95
11.4 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 | 0.7 |
| 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 | 33.0 km/h (9.167 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 |
| smoothing_distance | 2 |
| max_width | 6.0 |
| bicycle_model | |
| length | 1.087 |
| width | 2.3 |
| v2x_obstacle_avoidance | |
| vehicle_radius | 0.5 |
| v_max_safety | 30.0 |
| position_jump_threshold | 5.0 |
| bearing_overlap_lateral_enter_min_m | 0.8 |
| bearing_overlap_lateral_exit_min_m | 0.5 |
| bearing_overlap_lateral_enter_max_m | 2.3 |
| bearing_overlap_lateral_exit_max_m | 3.3 |
| bearing_overlap_longitudinal_guard_m | 12.0 |
| ref_vel | |
| s1 | 30.0 |
| s1_1 | 30.0 |
| s2 | 30.0 |
| s3 | 30.0 |
| s4 | 22.0 |
| s5 | 30.0 |
| s6 | 22.0 |
| s7 | 30.0 |
| s8 | 25.0 |
| s9 | 30.0 |
| launch | |
| use_obstacle_avoidance | False |
| use_boost_acceleration | False |