How can we unlock the speed limit of 50?

[KM-Hyun]

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I'm currently experimenting with a custom map with a 1km implementation, and like other question about speed, no matter how much I increase the speed limit, the speed stays at 50. No matter how much I increase the parameters related to motion_smoother in the answer to that question, the speed doesn't go above 50. The experiment I want to do requires the speed to go up to 100, is there any way to get it up to that speed?

[liuXinGangChina]

@KM-Hyun
just check the vector map you used， there are speed limit element inside them

happy hacking！

[KM-Hyun]

Thank you very much for your answer to my question. One more question, I noticed that the speed limit of 50km/h is applied to the map I created, even though I didn't give it a speed_limit value. When I artificially set the speed_limit value to 100 or more, I could see the speed increase normally. Is there a default speed limit value in autoware for roads?

[0xd1ma]

@KM-Hyun, autoware_motion_smoother create velocity profile with assumption: vehicle must stop at the end of trajectory. It uses acceleration/deceleration parameters for creation of such velocity profile. If it is not possible for vehicle with that parameters to achieve maximum velocity, you should change path length in behavior_path_planner and autoware_motion_smoother

[KM-Hyun]

Thank you so much for your response. The issue was resolved by adding the speed_limit value.

[liuXinGangChina]

since this issue is solved ， i will mark it answered and close it！