fix(behavior_path_planner): pull over deceleration (#273)

Signed-off-by: kosuke55 <[email protected]>
tier4 · Apr 11, 2023 · a462edf · a462edf
1 parent 0906c87
commit a462edf
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -1,15 +1,16 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 100.0
+      minimum_request_length: 100.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
       pull_over_velocity: 3.0
       pull_over_minimum_velocity: 1.38
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      maximum_deceleration: 0.5
+      maximum_deceleration: 1.0
+      maximum_jerk: 1.0
       # goal research
       enable_goal_research: true
       search_priority: "efficient_path" # "efficient_path" or "close_goal"