add params for acceleration prevention (autowarefoundation#454) (auto…

…warefoundation#457) Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
TomohitoAndo · Oct 13, 2021 · a17edb7 · a17edb7
1 parent 3d7fb0b
commit a17edb7
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -28,6 +28,10 @@
 
       object_hold_max_count: 20
 
+      # For prevention of large acceleration while avoidance
+      min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
+      max_avoidance_acceleration: 0.5  # [m/ss]
+
       # for debug
       publish_debug_marker: false
       print_debug_info: false