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chore(motion_velocity_smoother): add enable curve filtering param #580

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merged 2 commits into from
Sep 25, 2023
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chore(motion_velocity_smoother): add enable curve filtering param #580

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chore(motion_velocity_smoother): add enable curve filtering param
TakaHoribe Sep 21, 2023
bf2af49
Merge remote-tracking branch 'origin/main' into smoother-latearal-acc…
TakaHoribe Sep 25, 2023
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4 changes: 2 additions & 2 deletions ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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Expand Up @@ -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]
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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

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