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feat(planning_config): update params to enable 60kmph speed #194

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Feb 6, 2023
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feat(planning_config): update params to enable 60kmph speed #194

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4 changes: 2 additions & 2 deletions autoware_launch/config/planning/scenario_planning/common/common.param.yaml
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Expand Up @@ -2,9 +2,9 @@
ros__parameters:
# constraints param for normal driving
normal:
min_acc: -0.5 # min deceleration [m/ss]
min_acc: -1.0 # min deceleration [m/ss]
max_acc: 1.0 # max acceleration [m/ss]
min_jerk: -0.5 # min jerk [m/sss]
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]

# constraints to be observed
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2 changes: 1 addition & 1 deletion ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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Expand Up @@ -32,7 +32,7 @@

# resampling parameters for optimization
max_trajectory_length: 200.0 # max trajectory length for resampling [m]
min_trajectory_length: 150.0 # min trajectory length for resampling [m]
min_trajectory_length: 180.0 # min trajectory length for resampling [m]
resample_time: 2.0 # resample total time for dense sampling [s]
dense_resample_dt: 0.2 # resample time interval for dense sampling [s]
dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
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