From 52e39155afbac72c934a7cf87bc503eae391018a Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 19 Jul 2023 09:52:12 +0900 Subject: [PATCH] chore(run_out): disable slow down limit (#332) Signed-off-by: Tomohito Ando --- .../behavior_velocity_planner/run_out.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index c8905f66da..910ffc6c6c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -67,8 +67,14 @@ margin_behind: 0.5 # [m] ahead margin for detection area length margin_ahead: 1.0 # [m] behind margin for detection area length + # parameter to avoid sudden stopping + slow_down_limit: + enable: false + max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. + max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. + # Only used when "detection_method" is set to Points # Points in this area are detected even if it is in the no obstacle segmentation area # The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints mandatory_area: - decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area + decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area \ No newline at end of file