From 7dbcf0a450f15796f35b21b883aac0a016f0cda0 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 25 Sep 2023 09:47:41 +0900 Subject: [PATCH] chore(motion_velocity_smoother): add enable curve filtering param (#580) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 1fc5d3d670..235c76a5c1 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -11,12 +11,14 @@ # common parameters curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters + enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] # steering angle rate limit parameters + enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] resample_ds: 0.1 # distance between trajectory points [m] curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] @@ -55,8 +57,6 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] - - # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point