From ea14ab05cc9941662efbf3164705107128402a0a Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Tue, 23 May 2023 09:42:03 +0300
Subject: [PATCH 1/2] feat(vehicle_cmd_gate): add moderate_stop_interface
parameter (#367)
Signed-off-by: Berkay Karaman <brkay54@gmail.com>
---
.../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 1 +
1 file changed, 1 insertion(+)
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index bc7eb2bc99..9cc038352e 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -7,6 +7,7 @@
external_emergency_stop_heartbeat_timeout: 0.0
stop_hold_acceleration: -1.5
emergency_acceleration: -2.4
+ moderate_stop_service_acceleration: -1.5
stopped_state_entry_duration_time: 0.1
nominal:
vel_lim: 25.0
From 4b8a135e82f955da3fc323e9ea31514bb09bd651 Mon Sep 17 00:00:00 2001
From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
Date: Tue, 23 May 2023 20:47:50 +0900
Subject: [PATCH 2/2] feat(planning_launch): add maximum and minimum
longitudinal acceleration for the lane change (#363)
---
.../behavior_path_planner/lane_change/lane_change.param.yaml | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 5668f02bab..fe24eca17d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -15,6 +15,10 @@
longitudinal_acceleration_sampling_num: 5
lateral_acceleration_sampling_num: 3
+ # longitudinal acceleration
+ min_longitudinal_acc: -1.0
+ max_longitudinal_acc: 1.0
+
# lateral acceleration map
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]