feat(planning_config): update params to enable 60kmph speed (autoware…

…foundation#744) Signed-off-by: Takamasa Horibe <[email protected]>
sykwer · Feb 6, 2023 · a6ef5b2 · a6ef5b2
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commit a6ef5b2
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diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -2,9 +2,9 @@
   ros__parameters:
     # constraints param for normal driving
     normal:
-      min_acc: -0.5         # min deceleration [m/ss]
+      min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -0.5        # min jerk [m/sss]
+      min_jerk: -1.0        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
     # constraints to be observed

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
@@ -32,7 +32,7 @@
 
     # resampling parameters for optimization
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
-    min_trajectory_length: 150.0        # min trajectory length for resampling [m]
+    min_trajectory_length: 180.0        # min trajectory length for resampling [m]
     resample_time: 2.0                  # resample total time for dense sampling [s]
     dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]