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feat: update acceleration limit #1181

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feat: update acceleration limit #1181

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6 changes: 3 additions & 3 deletions autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@

# stopped state
stopped_vel: 0.0
stopped_acc: -3.4 # denotes pedal position
stopped_acc: -2.49 # denotes pedal position
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stopped_acc does not denote deceleration value, but denotes pedal position after the stop has achieved.
Hence this change is not required.


# emergency state
emergency_vel: 0.0
Expand All @@ -65,8 +65,8 @@
acc_feedback_gain: 0.0

# acceleration limit
max_acc: 3.0
min_acc: -5.0
max_acc: 1.5
min_acc: -2.49
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In order to follow the trajectory planned with limit.min_acc and limit.max_acc in the planning params, this values must be greater than planning params. Because we need a margin for disturbance and error.
However, I think we have an option to align these values to the limit.min_acc and limit.max_acc in common.pram.yaml to restrict the feedback control.


# jerk limit
max_jerk: 2.0
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2 changes: 1 addition & 1 deletion autoware_launch/config/planning/scenario_planning/common/common.param.yaml
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Expand Up @@ -11,7 +11,7 @@

# constraints to be observed
limit:
min_acc: -2.5 # min deceleration limit [m/ss]
min_acc: -2.49 # min deceleration limit [m/ss]
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This change may be only for Dense Urban ODD.

max_acc: 1.0 # max acceleration limit [m/ss]
min_jerk: -1.5 # min jerk limit [m/sss]
max_jerk: 1.5 # max jerk limit [m/sss]
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