Best Lap
37.57 s
Avg Lap (2-6)
50.52 s
Penalties
5 / 34.6 count / s
e_y RMS
2.739 m
vx Max
9.75 m/s
Steer Jerk RMS
0.316 rad/s
Solve Time p95
11.9 ms
Parameters
mpc
| N | 20 |
| R | [100000.0, 0.0] |
| a_min | -1.37 m/s² |
| a_max | 1.37 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 |
| use_path_kappa_vmax | True |
| infeasible_brake_decel | 2.0 |
| v_max | 35.0 km/h (9.722 m/s) |
| ay_max | 12.290987274642163 m/s² |
| traj_ay_budget | 24.0 |
| Q | [112301.4979118183, 12139382.10210929, 2000000.0] |
| QN | [101625.01147711634, 3040.4088337725966, 10000.0] |
reference_path
| csv_path | env/awsim_collision_2026/traj_mintime_awsim0701.csv |
| resolution | 0.6 |
| smoothing_distance | 2 |
| max_width | 6.0 |
bicycle_model
| length | 1.087 |
| width | 1.45 |
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 |