2021-05-13 21:40:48 +08:00
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import numpy as np
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2022-02-05 18:16:38 +08:00
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class Params:
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2020-06-30 18:05:30 +08:00
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def __init__(self):
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2022-02-05 18:16:38 +08:00
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self.N = 4 # number of state variables
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self.M = 2 # number of control variables
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2023-10-13 03:17:55 +08:00
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self.T = 5 # Prediction Horizon [s]
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2023-10-13 02:28:38 +08:00
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self.DT = 0.2 # discretization step [s]
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self.L = 0.3 # vehicle wheelbase [m]
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self.TARGET_SPEED = 1.0 # [m/s
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self.MAX_SPEED = 1.5 # [m/s
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self.MAX_ACC = 1.0 # [m/ss
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self.MAX_D_ACC = 1.0 # [m/sss
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self.MAX_STEER = np.radians(30) # [rad]
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self.MAX_D_STEER = np.radians(30) # [rad/s]
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