From fc8a4448a8b7bf22f6b480702b9bfdd7a64a6458 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 2 Apr 2024 13:08:18 +0900 Subject: [PATCH 1/2] feat(avoidance): limit acceleration during avoidance maneuver Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 0f430e3048..0eec35f2cb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -288,6 +288,7 @@ max_deceleration: -1.5 # [m/ss] max_jerk: 1.0 # [m/sss] max_acceleration: 1.0 # [m/ss] + min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] shift_line_pipeline: trim: From f8dc65f58a703f8447f2d28049262bd71e4b9de8 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Mon, 8 Apr 2024 08:47:41 +0900 Subject: [PATCH 2/2] fix(avoidance): tune longitudinal max acceleration Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 0eec35f2cb..1eac06cb08 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -287,7 +287,7 @@ nominal_jerk: 0.5 # [m/sss] max_deceleration: -1.5 # [m/ss] max_jerk: 1.0 # [m/sss] - max_acceleration: 1.0 # [m/ss] + max_acceleration: 0.5 # [m/ss] min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] shift_line_pipeline: