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feat(vehicle_cmd_gate): change param to relax pedal rate limit when the vehicle velocity is slow enough #1077

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merged 3 commits into from
Jul 22, 2024
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feat(vehicle_cmd_gate): change param to relax pedal rate limit when the vehicle velocity is slow enough #1077

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764afb6
change param
yuki-takagi-66 Jun 27, 2024
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yuki-takagi-66 Jul 19, 2024
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yuki-takagi-66 Jul 19, 2024
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16 changes: 8 additions & 8 deletions autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,14 +16,14 @@
stop_check_duration: 1.0
nominal:
vel_lim: 25.0
reference_speed_points: [20.0, 30.0]
steer_lim: [1.0, 0.8]
steer_rate_lim: [1.0, 0.8]
lon_acc_lim: [5.0, 4.0]
lon_jerk_lim: [5.0, 4.0]
lat_acc_lim: [5.0, 4.0]
lat_jerk_lim: [7.0, 6.0]
actual_steer_diff_lim: [1.0, 0.8]
reference_speed_points: [0.1, 0.3, 20.0, 30.0]
steer_lim: [1.0, 1.0, 1.0, 0.8]
steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
lon_jerk_lim: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting.
lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]
on_transition:
vel_lim: 50.0
reference_speed_points: [20.0, 30.0]
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