From d21bdcc4440fc3716f97bcf5193b2eaec6140c86 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 7 Jun 2024 18:47:21 +0900 Subject: [PATCH] feat(motion_velocity_smoother)!: added force acceleration based parameter (#870) * add force acceleration related parameters to motion velocity smoother Signed-off-by: Go Sakayori * Parameters fixed from experiment Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../velocity_smoother.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 ff97ae8dfb..fdfc7c7aa3 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 @@ -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