upadate param

Signed-off-by: Yuki Takagi <[email protected]>

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
-    jerk_weight: 10.0        # weight for "smoothness" cost for jerk
-    over_v_weight: 100000.0  # weight for "over speed limit" cost
-    over_a_weight: 5000.0    # weight for "over accel limit" cost
-    over_j_weight: 2000.0    # weight for "over jerk limit" cost
+    jerk_weight: 0.1        # weight for "smoothness" cost for jerk
+    over_v_weight: 10000.0  # weight for "over speed limit" cost
+    over_a_weight: 500.0    # weight for "over accel limit" cost
+    over_j_weight: 200.0    # weight for "over jerk limit" cost
     jerk_filter_ds: 0.1      # resampling ds for jerk filter

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -16,7 +16,7 @@
     min_curve_velocity: 2.0            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
-    min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
+    min_decel_for_lateral_acc_lim_filter: -0.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
     # steering angle rate limit parameters
     enable_steering_rate_limit: true         # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
     max_steering_angle_rate: 11.5            # maximum steering angle rate [degree/s]