Merge pull request #301 from tier4/sync-awf-latest

chore: sync awf-latest

Author: tier4-autoware-public-bot[bot]

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -19,6 +19,7 @@
     use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
     speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
     acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
+    use_crosswalk_signal: true
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 

autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml

@@ -9,17 +9,17 @@
 
     # -- curve parameters  --
     # common parameters
-    curvature_calculation_distance: 5.0         # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
+    curvature_calculation_distance: 2.0         # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
     # lateral acceleration limit parameters
     enable_lateral_acc_limit: true     # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime.
     max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
-    min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
+    min_curve_velocity: 2.0            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
     # steering angle rate limit parameters
     enable_steering_rate_limit: true         # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
-    max_steering_angle_rate: 40.0            # maximum steering angle rate [degree/s]
+    max_steering_angle_rate: 11.5            # maximum steering angle rate [degree/s]
     resample_ds: 0.1                         # distance between trajectory points [m]
     curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]