feat(motion_velocity_smoother)!: added force acceleration based param…

…eter (autowarefoundation#870) * add force acceleration related parameters to motion velocity smoother Signed-off-by: Go Sakayori <[email protected]> * Parameters fixed from experiment Signed-off-by: Go Sakayori <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Go Sakayori <[email protected]>
tier4 · Aug 7, 2024 · d21bdcc · d21bdcc
1 parent 8e5b8a0
commit d21bdcc
Showing 1 changed file with 8 additions and 0 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
@@ -60,3 +60,11 @@
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
 
     plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.
+
+    # 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