From bb0c1676f0c35cb8ba6576c00ef3ccf69023f86d Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Fri, 2 Feb 2024 14:28:09 +0900 Subject: [PATCH] upadate param Signed-off-by: Yuki Takagi --- .../motion_velocity_smoother/JerkFiltered.param.yaml | 8 ++++---- .../motion_velocity_smoother.param.yaml | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml index f74ca045f5..2bd5f7dbe2 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml +++ b/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 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 4b6693f150..eb3080b249 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 @@ -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]