feat(motion_velocity_smoother): set 5kph for min velocity of lat acc …

…filter (autowarefoundation#646) feat(motion_velocity_smoother): set 5km/h for min velocity of lat acc filter Signed-off-by: Makoto Kurihara <[email protected]>
maxime-clem · May 12, 2024 · 1e4372d · 1e4372d
1 parent 2a0f33c
commit 1e4372d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -12,7 +12,7 @@
     # 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: 0.6             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
+    min_curve_velocity: 1.39            # 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]