From 45bb96c523138405c90f533b007f22968994c7af Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 6 Mar 2024 22:47:49 +0900
Subject: [PATCH] feat: disable AEB and set the maximum velocity to 40km/h

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../config/planning/scenario_planning/common/common.param.yaml  | 2 +-
 .../launch/components/tier4_control_component.launch.xml        | 2 +-
 2 files changed, 2 insertions(+), 2 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 0dba945718..face8610c7 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 4.17           # max velocity limit [m/s]
+    max_vel: 11.1           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 5c3cf06ad0..d15e050d7a 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
-  <arg name="enable_autonomous_emergency_braking" default="true"/>
+  <arg name="enable_autonomous_emergency_braking" default="false"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>