From a6ef5b2b812b07d898aac1976c227b0886768e5f Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 6 Feb 2023 14:43:58 +0900 Subject: [PATCH] feat(planning_config): update params to enable 60kmph speed (#744) Signed-off-by: Takamasa Horibe --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- .../motion_velocity_smoother.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index a23570a5fc..6bb130e805 100644 --- 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/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 9534a87fc5..e600334ee2 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 @@ -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]