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 · Aug 7, 2024 · 1fbceff · 1fbceff
1 parent d21bdcc
commit 1fbceff
Showing 1 changed file with 9 additions and 5 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
@@ -63,8 +63,12 @@
 
     # force acceleration
     force_acceleration:
-      max_acc: 2.0
-      max_jerk: 5.0
-      max_lateral_acc: 1.0
-      engage_velocity: 0.25
-      engage_acceleration: 0.5
+      max_acc: 2.0                            # max longitudinal acceleraion in force acceleration mode [m/ss]
+      max_jerk: 5.0                           # max longitudinal jerk in force accleration mode         [m/sss]
+      max_lateral_acc: 1.0                    # max lateral accleration in force accleration mode       [m/ss]
+      engage_velocity: 0.25                   # engage velocity in force accleration mode               [m/s]
+      engage_acceleration: 0.5                # engage accleration in force accleration mode            [m/ss]
+
+    # force slow driving from stopping state
+    force_slow_driving:
+      velocity: 1.39                          # velocity in slow driving mode [m/s]