Best Lap
73.63 s
Avg Lap (2-6)
88.55 s
Penalties
6 / 120.0 count / s
Boost
OFF fires
e_y RMS
0.559 m
vx Max
9.53 m/s
Steer Jerk RMS
1.006 rad/s
Solve Time p95
21.3 ms
Parameters
mpc
| N | 20 |
| R[0] | 1e5 |
| R[1] | 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 | 1.4 |
| 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 |
| lateral_mpc_mode | time_domain_actuator |
| steer_command_max_deg | 32.0 |
| grip_steer_factor | 0.51 |
| infeasible_brake_decel | 2.0 |
| v_max | 35.0 km/h (9.722 m/s) |
| ay_max | 9.5 m/s² |
| traj_ay_budget | 24.0 |
| Q[0] | 6e5 |
| Q[1] | 1e8 |
| Q[2] | 2e6 |
| QN[0] | 1e6 |
| QN[1] | 1e6 |
| QN[2] | 10000.0 |
race_strategy_fsm
| follow_time_gap_s | 2.5 |
| approach_brake_decel_mps2 | 0.8 |
| stationary_pass_min_clearance_m | 0.7 |
| overtake_ttc_abort_s | 2.0 |
| overtake_min_clearance_m | 0.6 |
| overtake_width_abort_margin_m | 0.4 |
| overtake_width_abort_grace_s | 0.3 |
| d_engage_m | 27.0 |
| d_engage_release_m | 32.0 |
| standstill_margin_m | 4.0 |
| t_hold_s | 0.5 |
| t_commit_s | 12.0 |
| t_confirm_s | 0.5 |
| cooldown_s | 2.0 |
| stale_grace_s | 3.0 |
| min_dwell_s | 0.5 |
| cap_binding_margin_mps | 0.3 |
official_boost
| hold_cycles | 8 |
| pass_tolerance_m | 10.0 |
| cooldown_timeout_cycles | 600 |
| fire_on_start | True |
| start_speed_threshold_mps | 0.5 |
| schedule[0].lap | 2 |
| schedule[0].s | 0.0 |
| tactical.enabled | True |
| tactical.reserve | 0 |
| tactical.min_speed_mps | 1.5 |
| tactical.start_grace_cycles | 400 |
| tactical.lookahead_m | 80.0 |
| tactical.no_fire_bands[0][0] | 140.0 |
| tactical.no_fire_bands[0][1] | 250.0 |
| tactical.cooldown_cycles | 1200 |
| front_block.enabled | True |
| front_block.longitudinal_max_m | 20.0 |
| front_block.lateral_max_m | 1.5 |
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 |
standstill_recovery
| trigger_stopped_speed_mps | 0.5 |
| trigger_duration_s | 4.0 |
| creep_speed_mps | 0.8 |
| exit_distance_m | 2.5 |
| exit_duration_s | 5.0 |
| reverse_enabled | True |
| reverse_speed_mps | 0.8 |
| reverse_accel_mps2 | 1.0 |
| reverse_distance_m | 4.0 |
| reverse_duration_s | 6.0 |
| reverse_steer_deg | 20.0 |
| reverse_exit_heading_deg | 6.0 |
| reverse_min_distance_m | 1.0 |
| brake_accel_mps2 | 1.0 |
| brake_exit_speed_mps | 0.1 |
| brake_duration_s | 2.0 |
| wedge_cmd_speed_mps | 2.0 |
| wedge_margin_m | 0.9 |
| wedge_heading_deg | 10.0 |
| arm_speed_mps | 5.0 |
corridor_abandon_brake
| stop_margin_m | 4.0 |
| decel_mps2 | 1.0 |
| overtake_tailgate_margin_m | 4.0 |
| behind_guard_enabled | True |
| behind_guard_lateral_clear_m | 1.5 |
| behind_guard_hysteresis_m | 0.15 |
race_state_estimator
| search_window | 30 |
| fallback_threshold | 5.0 |
| stationary_speed_threshold_mps | 0.3 |
| velocity_consistency_min_dot | 0.05 |
reference_path
| update_by_topic | False |
| csv_path | env/awsim_collision_2026/traj_mintime_awsim0701_mpccsync_safe.csv |
| resolution | 0.6 |
| smoothing_distance | 2 |
| max_width | 6.0 |
| circular | True |
| use_csv_kappa | True |
map
| yaml_path | env/awsim_collision_2026/occupancy_grid_map.yaml |
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 |
bicycle_model
| length | 1.087 |
| width | 1.45 |
launch
| use_obstacle_avoidance | False |
| use_boost_acceleration | False |
mpcc
| N | 133 |