From e300f280f7eeb46d39be73102f2d8e2b8d89fd89 Mon Sep 17 00:00:00 2001 From: beyza Date: Tue, 17 Sep 2024 16:12:20 +0300 Subject: [PATCH] fix(static_obstacle_avoidance): change jerk values to handle dense urban scenarios Signed-off-by: beyza --- .../static_obstacle_avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index eeaf84d5ff..a82aa0e411 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -293,8 +293,8 @@ lateral: velocity: [1.39, 4.17, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] - min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] + min_jerk_values: [0.0, 0.0, 0.0] # [m/sss] + max_jerk_values: [3.0, 3.0, 3.0] # [m/sss] # longitudinal constraints longitudinal: