From 9904520914a7ed9617bc9c4f749f6926295e3703 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 30 Oct 2023 11:26:03 +0900 Subject: [PATCH] fix(motion_velocity_smoother): change curvature_calculation_distance (#685) Signed-off-by: tomoya.kimura --- .../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 2cbc0272bf..eb3080b249 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 @@ -9,7 +9,7 @@ # -- curve parameters -- # common parameters - curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + curvature_calculation_distance: 2.0 # 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]