Merge pull request autowarefoundation#780 from tier4/feat/apply-slope…

…-hold-param chore: apply slope hold param
technolojin · Sep 4, 2024 · 4e10ec6 · 4e10ec6
2 parents 92b9a2c + 111d8a4
commit 4e10ec6
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -16,11 +16,11 @@
     stop_check_duration: 1.0
     nominal:
       vel_lim: 25.0
-      reference_speed_points: [0.1, 0.2, 20.0, 30.0]
+      reference_speed_points: [0.1, 0.3, 20.0, 30.0]
       steer_lim: [1.0, 1.0, 1.0, 0.8]
       steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
       lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
-      lon_jerk_lim: [5.0, 5.0, 5.0, 4.0]
+      lon_jerk_lim: [80.0, 5.0, 5.0, 4.0]
       lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
       lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
       actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]