ts: 0.01
preview_window: 0
cf: 275159.24
cr: 275159.24
mass_fl: 563
mass_fr: 563
mass_rl: 563
mass_rr: 563
eps: 0.01
matrix_q: 6.0
matrix_q: 1.0
matrix_q: 3.0
matrix_q: 0.0
cutoff_freq: 5
mean_filter_window_size: 10
max_iteration: 1000
max_lateral_acceleration: 4.0
enable_reverse_leadlag_compensation: false
enable_steer_mrac_control: false
enable_look_ahead_back_control: false
use_new_look_ahead_back: false
lookahead_station: 0.5
lookback_station: 0.85
lookahead_station_high_speed: 0.0
lookback_station_high_speed: 0.0
switch_speed: 2.0
switch_speed_window: 0.0
query_relative_time: 0.0
enable_navigation_mode_position_update: false
trajectory_transform_to_com_reverse: false
trajectory_transform_to_com_drive: false
enable_feedback_augment_on_high_speed: false
enable_maximum_steer_rate_limit: false
lock_steer_speed: -0.081
query_time_nearest_point_only: false
enable_navigation_mode_error_filter: false
reverse_feedforward_ratio: 0.5
reverse_use_dynamic_model: false
min_large_ref_cur: 0.15

straight_steering_percentage: 5
straight_min_velocity: 0.5
straight_max_ref_cur: 0.01

use_heading_auto_compensation: false
AHC_container_size: 300
AHC_mean_value_low_threshold: 0.01
AHC_mean_value_high_threshold: 0.05
AHC_peak_value_threshold: 0.02

enable_enhance_qparam: true
first_handle_heading_window: 0
out_first_handle_heading_window: 0
handle_lat_err_window: 120
handle_heading_err_window: 120
first_handle_heading_stage_prarm: 100
handle_lat_err_prarm_domain: 5
handle_lat_err_prarm_ignore: 0.5
handle_heading_err_parm_domain: 30
handle_heading_err_parm_ignore: 0.5
heading_err_threshold: 0.12
lat_err_threshold: 0.1
openspace_enhance_curv: 0.1
lat_err_position_add: 1.5
check_continous_errors_window: 5
com_change_rate: 0.05
lat_continous_err_threshold: 0.1
use_continous_errors_check: false
choose_ref_point: USE_LAT_MATCH_COM

reverse_dead_steer_left: 70.0
reverse_too_big_lat_err: 0.25
reverse_too_big_heading_err: 0.18
reverse_final_heading_check_path: 1.5
reverse_final_heading_check_heading: 0.01

reverse_leadlag_conf {
  innerstate_saturation_level: 3000
  alpha: 1.0
  beta: 1.0
  tau: 0.0
}

steer_mrac_conf {
  mrac_model_order: 1
  reference_time_constant: 0.01
  reference_natural_frequency: 10
  reference_damping_ratio: 0.9
  adaption_state_gain: 1.0
  adaption_desired_gain: 1.0
  adaption_nonlinear_gain: 1.0
  adaption_matrix_p: 1.0
  mrac_saturation_level: 1.0
  anti_windup_compensation_gain: 0.0
}

speed_segment: 1.0
speed_segment: 2.0
speed_segment: 3.0
speed_segment: 5.0

changing_rate: 0.01
changing_rate: 0.005
changing_rate: 0.003
changing_rate: 0.001

lat_speed_input: 0.1
lat_speed_input: 0.5
lat_speed_input: 1.0
lat_speed_input: 2.0
lat_speed_input: 3.0
lat_speed_input: 4.0
lat_speed_input: 5.0

lat_err_speed_gain_output: 0.8
lat_err_speed_gain_output: 1.5
lat_err_speed_gain_output: 1.0
lat_err_speed_gain_output: 1.0
lat_err_speed_gain_output: 1.0
lat_err_speed_gain_output: 1.0
lat_err_speed_gain_output: 1.0

lat_err_delta_speed_gain_output: 1.0
lat_err_delta_speed_gain_output: 1.0
lat_err_delta_speed_gain_output: 1.0
lat_err_delta_speed_gain_output: 1.0
lat_err_delta_speed_gain_output: 1.0
lat_err_delta_speed_gain_output: 1.0
lat_err_delta_speed_gain_output: 1.0

heading_err_speed_gain_output: 2.0
heading_err_speed_gain_output: 1.5
heading_err_speed_gain_output: 1.0
heading_err_speed_gain_output: 0.8
heading_err_speed_gain_output: 0.6
heading_err_speed_gain_output: 0.4
heading_err_speed_gain_output: 0.1

heading_err_delta_speed_gain_output: 1.0
heading_err_delta_speed_gain_output: 1.0
heading_err_delta_speed_gain_output: 1.0
heading_err_delta_speed_gain_output: 1.0
heading_err_delta_speed_gain_output: 1.0
heading_err_delta_speed_gain_output: 1.0
heading_err_delta_speed_gain_output: 1.0

lat_curvature_input: 0.01
lat_curvature_input: 0.05
lat_curvature_input: 0.10
lat_curvature_input: 0.20
lat_curvature_input: 0.30
lat_curvature_input: 0.40

lat_err_curvature_gain_output: 1.0
lat_err_curvature_gain_output: 3.0
lat_err_curvature_gain_output: 5.0
lat_err_curvature_gain_output: 10.0
lat_err_curvature_gain_output: 15.0
lat_err_curvature_gain_output: 20.0

lat_err_delta_curvature_gain_output: 1.0
lat_err_delta_curvature_gain_output: 1.0
lat_err_delta_curvature_gain_output: 1.0
lat_err_delta_curvature_gain_output: 1.0
lat_err_delta_curvature_gain_output: 1.0
lat_err_delta_curvature_gain_output: 1.0

heading_err_curvature_gain_output: 3.0
heading_err_curvature_gain_output: 8.0
heading_err_curvature_gain_output: 5.0
heading_err_curvature_gain_output: 1.0
heading_err_curvature_gain_output: 1.0
heading_err_curvature_gain_output: 1.0

heading_err_delta_curvature_gain_output: 1.0
heading_err_delta_curvature_gain_output: 1.0
heading_err_delta_curvature_gain_output: 1.0
heading_err_delta_curvature_gain_output: 1.0
heading_err_delta_curvature_gain_output: 1.0
heading_err_delta_curvature_gain_output: 1.0

lat_safety_check_conf {
  check_threshold {
    max_lateral_error_e: 0.1
    max_lateral_error_w: 0.06
  }
  use_lateral_error_e_check: true
  use_lateral_error_w_check: true
}
use_safety_check_output: false
