From 5c8fadb8dd968112598988d57e189f23d8c10efc Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 29 May 2024 13:13:33 +0900 Subject: [PATCH 1/4] added parameters for motion velocity smoother Signed-off-by: Go Sakayori --- .../motion_velocity_smoother.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index ff97ae8dfb..23818c4b93 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -60,3 +60,7 @@ over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging. + + # force acceleration + adjusted_max_acceleration: 2.0 + adjusted_max_jerk: 5.0 \ No newline at end of file From 82e6781a019666567c2516b934c156ac5b896f8c Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 30 May 2024 10:52:25 +0900 Subject: [PATCH 2/4] add parameter to modify max lateral acceleration Signed-off-by: Go Sakayori --- .../motion_velocity_smoother.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 23818c4b93..477f763c88 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -63,4 +63,5 @@ # force acceleration adjusted_max_acceleration: 2.0 - adjusted_max_jerk: 5.0 \ No newline at end of file + adjusted_max_jerk: 5.0 + adjusted_max_lateral_acceleration: 1.0 \ No newline at end of file From 3b46db5ead649dc32f13ea7f139731a0d9287b81 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 30 May 2024 20:15:47 +0900 Subject: [PATCH 3/4] neatly formatiing file Signed-off-by: Go Sakayori --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 477f763c88..2f58396a14 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -64,4 +64,4 @@ # force acceleration adjusted_max_acceleration: 2.0 adjusted_max_jerk: 5.0 - adjusted_max_lateral_acceleration: 1.0 \ No newline at end of file + adjusted_max_lateral_acceleration: 1.0 From ebb0187117579afe67f456ab96805b6776078328 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 30 May 2024 23:22:19 +0900 Subject: [PATCH 4/4] namespace for force acceleration Signed-off-by: Go Sakayori --- .../motion_velocity_smoother.param.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 2f58396a14..2704b10e57 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -62,6 +62,7 @@ plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging. # force acceleration - adjusted_max_acceleration: 2.0 - adjusted_max_jerk: 5.0 - adjusted_max_lateral_acceleration: 1.0 + force_acceleration: + max_acc: 2.0 + max_jerk: 5.0 + max_lateral_acc: 1.0