From eb321eae0a769d2b8faffa2611b4aeafd1eb8b39 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 30 Oct 2023 11:26:03 +0900 Subject: [PATCH] fix(motion_velocity_smoother): change curvature_calculation_distance (#685) Signed-off-by: tomoya.kimura --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 22a0f7d9e3..06cc77ef2a 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 @@ -9,7 +9,7 @@ # -- curve parameters -- # common parameters - curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + curvature_calculation_distance: 2.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] # lateral acceleration limit parameters max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] min_curve_velocity: 2.0 # min velocity at lateral acceleration limit and steering angle rate limit [m/s]