feat(autoware_launch): add acc/jerk parameters for stuck vehicle dete…

…ction in crosswalk (autowarefoundation#487) Signed-off-by: Takayuki Murooka <[email protected]>
soblin · Sep 14, 2023 · 03cee43 · 03cee43
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commit 03cee43
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -30,6 +30,9 @@
         stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
         max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
         stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind 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]
 
       # param for pass judge logic
       pass_judge: