Best Lap
40.31 s
Avg Lap (2-6)
49.26 s
Penalties
4 / 34.4 count / s
Boost
no telemetry fires
e_y RMS
— m
vx Max
9.79 m/s
Steer Jerk RMS
0.951 rad/s
Solve Time p95
— ms
Parameters
mpc
| N | 20 |
| R[0] | 50000.0 |
| R[1] | 0.0 |
| a_min | -1.6 m/s² |
| a_max | 2.5 m/s² |
| delta_max_deg | 32.0 deg (0.559 rad) |
| steer_rate_max | 1.6 |
| 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 |
| lookahead_decel | 1.4 |
| v_max | 35.0 km/h (9.722 m/s) |
| ay_max | 18.5 m/s² |
| Q[0] | 1.2e6 |
| Q[1] | 1e8 |
| Q[2] | 1e6 |
| QN[0] | 1e6 |
| QN[1] | 1000.0 |
| QN[2] | 10000.0 |
v2x_obstacle_avoidance
| vehicle_radius | 0.5 |
| v_max_safety | 30.0 |
| position_jump_threshold | 5.0 |
reference_path
| update_by_topic | False |
| csv_path | env/custom_v4/traj_mincurv.csv |
| resolution | 0.6 |
| smoothing_distance | 2 |
| max_width | 6.0 |
| circular | True |
| use_path_constraints_topic | False |
| use_border_cells_topic | False |
map
| yaml_path | env/final_ver3/occupancy_grid_map.yaml |
bicycle_model
| length | 1.087 |
| width | 1.45 |
launch
| use_obstacle_avoidance | False |
| use_boost_acceleration | False |
obstacles
| csv_path | |
| radius | 1.25 |