From a908690bd2e27f9594386ac82e7bec6bebc223ab Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi Date: Mon, 29 Jul 2024 11:56:16 +0900 Subject: [PATCH] tmp 60kmph Signed-off-by: Shumpei Wakabayashi --- .../velocity_smoother.param.yaml | 2 +- .../scenario_planning/common/common.param.yaml | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml index ff97ae8dfb..b7e666763c 100644 --- a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml @@ -42,7 +42,7 @@ max_trajectory_length: 200.0 # max 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_resample_dt: 0.05 # resample time interval for dense sampling [s] dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] sparse_resample_dt: 0.5 # resample time interval for sparse sampling [s] sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m] 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 afd28238f3..831169a10b 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -4,14 +4,14 @@ # constraints param for normal driving normal: - min_acc: -1.0 # min deceleration [m/ss] + min_acc: -2.0 # min deceleration [m/ss] max_acc: 1.5 # max acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - max_jerk: 1.5 # max jerk [m/sss] + min_jerk: -2.0 # min jerk [m/sss] + max_jerk: 2.5 # max jerk [m/sss] # constraints to be observed limit: min_acc: -2.5 # min deceleration limit [m/ss] max_acc: 2.0 # max acceleration limit [m/ss] - min_jerk: -1.5 # min jerk limit [m/sss] - max_jerk: 2.5 # max jerk limit [m/sss] + min_jerk: -2.5 # min jerk limit [m/sss] + max_jerk: 3.5 # max jerk limit [m/sss]