From e59f08a698370e57e6cc48d843e5ca68df04c326 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 19 May 2023 14:36:01 +0900 Subject: [PATCH] feat(autoware_launch): time margin for slow down (#359) Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 5079e7ab50..672b33e5f4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -167,5 +167,7 @@ min_ego_velocity: 2.0 max_ego_velocity: 8.0 + time_margin_on_target_velocity: 1.5 # [s] + # max deceleration during slow down max_deceleration: -1.0