From 1e4372d573e54ed2192297dfd5e6a912e8e62037 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Sun, 12 May 2024 23:49:05 +0900 Subject: [PATCH] feat(motion_velocity_smoother): set 5kph for min velocity of lat acc filter (#646) feat(motion_velocity_smoother): set 5km/h for min velocity of lat acc filter Signed-off-by: Makoto Kurihara --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 2c7cf8bab8..fa8df8eb82 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 @@ -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]