Configuration

The velocity planner is parametrized using some configuration scripts. Adapt the paths to your own configuration scripts as shown in the examples-section of this documentation. An example configuration-script can be found in this package in velocity_optimization/params/sqp_config.ini. Simply copy this file to any location on your machine. You may want to adapt the following vehicle parameters:

Parameter	Description	Comment
mass_t	Vehicle mass [t]
P_max_kW	Maximum vehicle power [kW]
F_max_kN	Maximum tractional force [kN]
F_min_kN	Maximum braking force [kN]
ax_max_mps2	Max. longitudinal acceleration [mps2]	Won’t be used if given by friction estimation module in your path planner in veh_dynamics_info
ay_max_mps2	Max. lateral acceleration [mps2]	Won’t be used if given by friction estimation module in your path planner in veh_dynamics_info
c_res	Air resistance coeff. [kg/m]