feat(motion_velocity_smoother): force slow driving (autowarefoundatio…

…n#899) * add parameter for force slow driving Signed-off-by: Go Sakayori <[email protected]> * fix Signed-off-by: Go Sakayori <[email protected]> * modify comment Signed-off-by: Go Sakayori <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]>
tier4 · Dec 13, 2024 · 1bda3c3 · 1bda3c3
1 parent 86d47ec
commit 1bda3c3
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
@@ -60,3 +60,7 @@
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
 
     plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.
+
+    # force slow driving from stopping state
+    force_slow_driving:
+      velocity: 1.39                          # velocity in slow driving mode [m/s]