tmp 60kmph

Signed-off-by: Shumpei Wakabayashi <[email protected]>
tier4 · Sep 1, 2024 · a908690 · a908690
1 parent b4e5c9f
commit a908690
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
@@ -42,7 +42,7 @@
     max_trajectory_length: 200.0        # max trajectory length for resampling [m]
     min_trajectory_length: 180.0        # min trajectory length for resampling [m]
     resample_time: 2.0                  # resample total time for dense sampling [s]
-    dense_resample_dt: 0.2              # resample time interval for dense sampling [s]
+    dense_resample_dt: 0.05             # resample time interval for dense sampling [s]
     dense_min_interval_distance: 0.1    # minimum points-interval length for dense sampling [m]
     sparse_resample_dt: 0.5             # resample time interval for sparse sampling [s]
     sparse_min_interval_distance: 4.0   # minimum points-interval length for sparse sampling [m]

diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -4,14 +4,14 @@
 
     # constraints param for normal driving
     normal:
-      min_acc: -1.0         # min deceleration [m/ss]
+      min_acc: -2.0         # min deceleration [m/ss]
       max_acc: 1.5          # max acceleration [m/ss]
-      min_jerk: -1.0        # min jerk [m/sss]
-      max_jerk: 1.5         # max jerk [m/sss]
+      min_jerk: -2.0        # min jerk [m/sss]
+      max_jerk: 2.5         # max jerk [m/sss]
 
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]
       max_acc: 2.0          # max acceleration limit [m/ss]
-      min_jerk: -1.5        # min jerk limit [m/sss]
-      max_jerk: 2.5         # max jerk limit [m/sss]
+      min_jerk: -2.5        # min jerk limit [m/sss]
+      max_jerk: 3.5         # max jerk limit [m/sss]