refactor(obstacle_cruise_planner): move slow down params to a clear l…

…ocation (#926) move slow down params to a clear location Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Mar 18, 2024 · 6b32fd6 · 6b32fd6
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commit 6b32fd6
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diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -9,10 +9,6 @@
       min_jerk: -1.0        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
-    slow_down:
-      min_acc: -1.0         # min deceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -16,6 +16,8 @@
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
+      slow_down_min_acc: -1.0         # slow down min deceleration [m/ss]
+      slow_down_min_jerk: -1.0        # slow down min jerk [m/sss]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index