From 4b8a135e82f955da3fc323e9ea31514bb09bd651 Mon Sep 17 00:00:00 2001
From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
Date: Tue, 23 May 2023 20:47:50 +0900
Subject: [PATCH] feat(planning_launch): add maximum and minimum longitudinal
 acceleration for the lane change (#363)

---
 .../behavior_path_planner/lane_change/lane_change.param.yaml  | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 5668f02bab..fe24eca17d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -15,6 +15,10 @@
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
 
+      # longitudinal acceleration
+      min_longitudinal_acc: -1.0
+      max_longitudinal_acc: 1.0
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]