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feat(motion_velocity_smoother): cherry pick force acceleration and slow driving #626

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merged 3 commits into from
Oct 11, 2024
Merged

feat(motion_velocity_smoother): cherry pick force acceleration and slow driving #626

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37fc892
feat(motion_velocity_smoother)!: added force acceleration based param…
go-sakayori Jun 7, 2024
1cddd3b
feat(motion_velocity_smoother): force slow driving (#899)
go-sakayori Jul 11, 2024
4ceaf99
fix spelling mistake
go-sakayori Aug 7, 2024
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12 changes: 12 additions & 0 deletions ...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
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Expand Up @@ -60,3 +60,15 @@
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 longitudinal acceleration in force acceleration mode [m/ss]
max_jerk: 5.0 # max longitudinal jerk in force acceleration mode [m/sss]
max_lateral_acc: 1.0 # max lateral acceleration in force acceleration mode [m/ss]
engage_velocity: 0.25 # engage velocity in force acceleration mode [m/s]
engage_acceleration: 0.5 # engage acceleration in force acceleration mode [m/ss]

# force slow driving from stopping state
force_slow_driving:
velocity: 1.39 # velocity in slow driving mode [m/s]
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