From 1fbceff94b1ec97f7c151daedde3f7c598ccdeb6 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 11 Jul 2024 13:06:59 +0900 Subject: [PATCH] feat(motion_velocity_smoother): force slow driving (#899) * add parameter for force slow driving Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * modify comment Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../velocity_smoother.param.yaml | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml index fdfc7c7aa3..8d9d7d2cf8 100644 --- a/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml +++ b/autoware_launch/config/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]