From 4d8da3fb2b861e237a35760754b2840016d542c1 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Wed, 8 Nov 2023 16:55:16 +0900 Subject: [PATCH] feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother (#456) * feat(scenario_planning): change common jerk to 0.3 mainly for jerk filtered smoother Signed-off-by: Makoto Kurihara * feat(autoware_launch): change to JerkFiltered smoother Signed-off-by: Makoto Kurihara * chore: increase jerk limit for acceleration --------- Signed-off-by: Makoto Kurihara Co-authored-by: Shinnosuke Hirakawa --- .../planning/scenario_planning/common/common.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 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 index 5680a99713..1704ae82de 100644 --- 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: