From 37fc892aaac3a1d36ea14fa18f32816f9c39e853 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 7 Jun 2024 18:47:21 +0900 Subject: [PATCH 1/3] feat(motion_velocity_smoother)!: added force acceleration based parameter (#870) * add force acceleration related parameters to motion velocity smoother Signed-off-by: Go Sakayori * Parameters fixed from experiment Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../velocity_smoother.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) 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..fdfc7c7aa3 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 @@ -60,3 +60,11 @@ over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging. + + # force acceleration + force_acceleration: + max_acc: 2.0 + max_jerk: 5.0 + max_lateral_acc: 1.0 + engage_velocity: 0.25 + engage_acceleration: 0.5 From 1cddd3b5fef488ee04a1d3237e211ade5fcaad75 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 11 Jul 2024 13:06:59 +0900 Subject: [PATCH 2/3] feat(motion_velocity_smoother): force slow driving (#899) * add parameter for force slow driving Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * modify comment Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../velocity_smoother.param.yaml | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 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 fdfc7c7aa3..8d9d7d2cf8 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 @@ -63,8 +63,12 @@ # force acceleration force_acceleration: - max_acc: 2.0 - max_jerk: 5.0 - max_lateral_acc: 1.0 - engage_velocity: 0.25 - engage_acceleration: 0.5 + max_acc: 2.0 # max longitudinal acceleraion in force acceleration mode [m/ss] + max_jerk: 5.0 # max longitudinal jerk in force accleration mode [m/sss] + max_lateral_acc: 1.0 # max lateral accleration in force accleration mode [m/ss] + engage_velocity: 0.25 # engage velocity in force accleration mode [m/s] + engage_acceleration: 0.5 # engage accleration in force accleration mode [m/ss] + + # force slow driving from stopping state + force_slow_driving: + velocity: 1.39 # velocity in slow driving mode [m/s] From 4ceaf99504365bad208be69c12518dcd1cd6988e Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 7 Aug 2024 11:58:54 +0900 Subject: [PATCH 3/3] fix spelling mistake Signed-off-by: Go Sakayori --- .../velocity_smoother.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 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 8d9d7d2cf8..770c4bb86e 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 @@ -63,11 +63,11 @@ # force acceleration force_acceleration: - max_acc: 2.0 # max longitudinal acceleraion in force acceleration mode [m/ss] - max_jerk: 5.0 # max longitudinal jerk in force accleration mode [m/sss] - max_lateral_acc: 1.0 # max lateral accleration in force accleration mode [m/ss] - engage_velocity: 0.25 # engage velocity in force accleration mode [m/s] - engage_acceleration: 0.5 # engage accleration in force accleration mode [m/ss] + max_acc: 2.0 # max longitudinal acceleration in force acceleration mode [m/ss] + max_jerk: 5.0 # max longitudinal jerk in force acceleration mode [m/sss] + max_lateral_acc: 1.0 # max lateral acceleration in force acceleration mode [m/ss] + engage_velocity: 0.25 # engage velocity in force acceleration mode [m/s] + engage_acceleration: 0.5 # engage acceleration in force acceleration mode [m/ss] # force slow driving from stopping state force_slow_driving: