feat: apply new acceleration settings (autowarefoundation#612)

* feat: apply acceleration for emergency deceleration (-0.6G)

Signed-off-by: Makoto Kurihara <[email protected]>

* feat: apply behavior deceleration (-0.4G)

Signed-off-by: Makoto Kurihara <[email protected]>

* feat: apply comfortable stop/launch acceleration settings

Signed-off-by: Makoto Kurihara <[email protected]>

---------

Signed-off-by: Makoto Kurihara <[email protected]>

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -63,11 +63,11 @@
 
     # acceleration limit
     max_acc: 1.86
-    min_acc: -3.36
+    min_acc: -6.00
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -5.0
+    min_jerk: -30.0
 
     # pitch
     use_trajectory_for_pitch_calculation: true

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -10,7 +10,7 @@
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
-    emergency_acceleration: -2.4
+    emergency_acceleration: -4.0
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
@@ -19,8 +19,8 @@
       reference_speed_points: [20.0, 30.0]
       steer_lim: [1.0, 0.8]
       steer_rate_lim: [1.0, 0.8]
-      lon_acc_lim: [5.0, 4.0]
-      lon_jerk_lim: [5.0, 4.0]
+      lon_acc_lim: [6.0, 6.0]
+      lon_jerk_lim: [30.0, 30.0]
       lat_acc_lim: [5.0, 4.0]
       lat_jerk_lim: [7.0, 6.0]
       actual_steer_diff_lim: [1.0, 0.8]

autoware_launch/config/planning/scenario_planning/common/common.param.yaml

@@ -6,7 +6,7 @@
     normal:
       min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -0.3        # min jerk [m/sss]
+      min_jerk: -0.6        # min jerk [m/sss]
       max_jerk: 0.6         # max jerk [m/sss]
 
     slow_down:
@@ -15,7 +15,7 @@
 
     # constraints to be observed
     limit:
-      min_acc: -2.5         # min deceleration limit [m/ss]
+      min_acc: -6.0         # min deceleration limit [m/ss]
       max_acc: 1.0          # max acceleration limit [m/ss]
-      min_jerk: -1.5        # min jerk limit [m/sss]
-      max_jerk: 1.5         # max jerk limit [m/sss]
+      min_jerk: -20.0       # min jerk limit [m/sss]
+      max_jerk: 20.0        # max jerk limit [m/sss]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml

@@ -3,7 +3,7 @@
     forward_path_length: 1000.0
     backward_path_length: 5.0
     stop_line_extend_length: 5.0
-    max_accel: -2.8
+    max_accel: -4.0
     max_jerk: -5.0
     system_delay: 0.5
     delay_response_time: 0.5

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -31,9 +31,9 @@
         stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
         max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
         stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
-        min_acc: -1.0 # min acceleration [m/ss]
-        min_jerk: -1.0 # min jerk [m/sss]
-        max_jerk: 1.0 # max jerk [m/sss]
+        min_acc: -4.0 # min acceleration [m/ss]
+        min_jerk: -5.0 # min jerk [m/sss]
+        max_jerk: 5.0 # max jerk [m/sss]
 
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
@@ -46,9 +46,9 @@
 
         no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
-          min_acc: -1.0 # min acceleration [m/ss]
-          min_jerk: -1.0 # min jerk [m/sss]
-          max_jerk: 1.0 # max jerk [m/sss]
+          min_acc: -4.0 # min acceleration [m/ss]
+          min_jerk: -5.0 # min jerk [m/sss]
+          max_jerk: 5.0 # max jerk [m/sss]
 
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -9,7 +9,7 @@
         default_stopline_margin: 3.0
         stopline_overshoot_margin: 0.5
         path_interpolation_ds: 0.1
-        max_accel: -2.8
+        max_accel: -4.0
         max_jerk: -5.0
         delay_response_time: 0.5
         disable_pass_judge_sudden_stop: true

autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml

@@ -2,5 +2,5 @@
   ros__parameters:
     update_rate: 10
     min_acceleration: -1.0
-    max_jerk: 0.3
-    min_jerk: -0.3
+    max_jerk: 0.6
+    min_jerk: -0.6

autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml

@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     update_rate: 30
-    target_acceleration: -2.5
-    target_jerk: -1.5
+    target_acceleration: -4.0
+    target_jerk: -5.0