fix(planning_launch): align parameters to real vehicle

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

Author: rej55

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

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
-    jerk_weight: 10.0        # weight for "smoothness" cost for jerk
-    over_v_weight: 100000.0  # weight for "over speed limit" cost
-    over_a_weight: 5000.0    # weight for "over accel limit" cost
-    over_j_weight: 2000.0    # weight for "over jerk limit" cost
+    jerk_weight: 0.1         # weight for "smoothness" cost for jerk
+    over_v_weight: 10000.0   # weight for "over speed limit" cost
+    over_a_weight: 500.0     # weight for "over accel limit" cost
+    over_j_weight: 200.0     # weight for "over jerk limit" cost
     jerk_filter_ds: 0.1      # resampling ds for jerk filter

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

@@ -9,24 +9,24 @@
 
     # -- 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]
+    min_decel_for_lateral_acc_lim_filter: -0.5  # 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]
 
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]
     engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
-    engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
+    engage_acceleration: 0.6           # engage acceleration [m/ss] (use this acceleration when engagement)
     engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
     stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]