25 lines
463 BLFS
YAML
25 lines
463 BLFS
YAML
vehicle:
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mass: 1500 # kg
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max_acceleration: 3.0 # m/s^2
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max_deceleration: -8.0 # m/s^2
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drag_coefficient: 0.3
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acc_settings:
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set_speed: 30.0 # m/s (target cruise speed, ~108 km/h)
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time_headway: 1.5 # seconds
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min_distance: 10.0 # meters
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emergency_ttc_threshold: 3.0 # seconds (trigger emergency braking when TTC < this)
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pid_speed:
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kp: 0.1
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ki: 0.01
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kd: 0.0
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pid_distance:
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kp: 0.1
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ki: 0.01
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kd: 0.0
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simulation:
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dt: 0.1 # seconds
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