Is it needed to change parameters in the controller if I want to change the simulation frequency?

[ningwak]

If I change simulation frequency from 15 to 1, should the TAUs be 15 times larger, 15 times smaller or remain the same to obtain realistic trajectories?

[eleurent]

In principle, the gains (TAUs) of the controllers are already in expressed in seconds, so changing the simulation timestep should not change the behaviour / response of the vehicle.

That being said, if the reponse time of the controller is smaller than the simulation timestep, it will make the dynamics integration unstable. I think that with the default parameters, 5Hz is the minimum simulation frequency until we start seeing oscillations and unstabilities.

If you really wish to simulate at a lower frequency, you would indeed have to make the controllers and desired responses much slower, which will affect the dynamics (e.g. duration of a lane change, etc). It should work, but I haven't tried it myself. Let me know how it goes.

[ningwak]

In principle, the gains (TAUs) of the controllers are already in expressed in seconds, so changing the simulation timestep should not change the behaviour / response of the vehicle.

That being said, if the reponse time of the controller is smaller than the simulation timestep, it will make the dynamics integration unstable. I think that with the default parameters, 5Hz is the minimum simulation frequency until we start seeing oscillations and unstabilities.

If you really wish to simulate at a lower frequency, you would indeed have to make the controllers and desired responses much slower, which will affect the dynamics (e.g. duration of a lane change, etc). It should work, but I haven't tried it myself. Let me know how it goes.

Thank you very much. I will use 5 Hz instead