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Update autoware_launch/config/planning/scenario_planning/common/motio…
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…n_velocity_smoother/motion_velocity_smoother.param.yaml
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shmpwk authored Feb 14, 2024
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# engage & replan parameters
replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s]
engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
engage_acceleration: 0.6 # engage acceleration [m/ss] (use this acceleration when engagement)
engage_acceleration: 0.5 # engage acceleration [m/ss] (use this acceleration when engagement)
engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]

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