feat(scenario_planning): change common jerk to 0.3 mainly for jerk fi…

…ltered smoother (autowarefoundation#456) * feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother Signed-off-by: Makoto Kurihara <[email protected]> * feat(autoware_launch): change to JerkFiltered smoother Signed-off-by: Makoto Kurihara <[email protected]> * chore: increase jerk limit for acceleration --------- Signed-off-by: Makoto Kurihara <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]>
maxime-clem · Jun 25, 2024 · 4d8da3f · 4d8da3f
1 parent 1631b2f
commit 4d8da3f
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -6,8 +6,8 @@
     normal:
       min_acc: -1.0         # min deceleration [m/ss]
       max_acc: 1.0          # max acceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-      max_jerk: 1.0         # max jerk [m/sss]
+      min_jerk: -0.3        # min jerk [m/sss]
+      max_jerk: 0.6         # max jerk [m/sss]
 
     # constraints to be observed
     limit: