‘l2_pseudo_jerk_smoother’ takes long time to start and speed up at low speed by default param

[shulanbushangshu]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The "l2_pseudo_jerk_smoother" takes too long time to start by the default parameters in the "motion_velocity_smoother.param.yaml". When the vehicle is turning, it cannot accelerate normally after the speed is reduced, and it takes a long time to recover the normal speed.

Screencast.2022-11-03.14.56.22.mp4

Expected behavior

The ‘l2_pseudo_jerk_smoother’ shall take normal time to start and shall accelerate normally when the speed is reduced to low value.

Actual behavior

The ‘l2_pseudo_jerk_smoother’ takes too long time to start.When the vehicle is turning, it cannot accelerate normally after the speed is reduced, and it takes a long time to recover the normal speed.

Steps to reproduce

1.Chose the "L2" in the "scenario_planning.launch.xml"
2.Start autoware planning simulator;
3. Set initial position around the bend

Versions

1.OS: Ubuntun 20.04
2.ROS2: Galactic
3.Autoware: Autoware.universe:main

Possible causes

No response

Additional context

There is no slow acceleration for other smoothers ("JerkFiltered","Analytical","Linf") by the default parameters in the "motion_velocity_smoother.param.yaml"

[takayuki5168]

cc @rej55 @purewater0901 @TakaHoribe

[shulanbushangshu]

I have test the code.I find the value of cost about jerk is large.
(1)When I change the value of pseudo_jerk_weight in the "L2.param.yaml",as below:

The car can take normal time to start;
(2)When I change the code of cost about jerk,as below:

I do not square the smooth_weight in the calculation
The car can take normal time to start.