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feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 #512
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Signed-off-by: Maxime CLEMENT [email protected]
PR Type
Related Links
autowarefoundation/autoware.universe#2057
Description
This PR increases the value of the
max_lateral_accel
parameter in themotion_velocity_smoother
node. allowing to drive at higher velocities in curves.The current value of
0.8
m/s² is very conservative to avoid situations where the ego vehicle would drive too fast when close to some obstacles (e.g., guard rail) in curves. This PR changes the value to1.0
m/s².A new node (autowarefoundation/autoware.universe#1579) can be used to limit the velocity when driving near obstacles.
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