feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0

[maxime-clem]

Signed-off-by: Maxime CLEMENT [email protected]

PR Type

• Improvement

Related Links

autowarefoundation/autoware.universe#2057

Description

This PR increases the value of the max_lateral_accel parameter in the motion_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 to 1.0 m/s².

A new node (autowarefoundation/autoware.universe#1579) can be used to limit the velocity when driving near obstacles.

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[takayuki5168]

LGTM