feat(avoidance): limit acceleration during avoidance maneuver (autowa…

…refoundation#947) * feat(avoidance): limit acceleration during avoidance maneuver Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): tune longitudinal max acceleration Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
maxime-clem · Apr 9, 2024 · 43680c9 · 43680c9
1 parent 4319718
commit 43680c9
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -290,7 +290,8 @@
           nominal_jerk: 0.5                             # [m/sss]
           max_deceleration: -1.5                        # [m/ss]
           max_jerk: 1.0                                 # [m/sss]
-          max_acceleration: 1.0                         # [m/ss]
+          max_acceleration: 0.5                         # [m/ss]
+          min_velocity_to_limit_max_acceleration: 2.78  # [m/ss]
 
       shift_line_pipeline:
         trim: