Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

chore(motion_velocity_smoother): add enable curve filtering param #580

Merged
merged 2 commits into from
Sep 25, 2023
Merged

chore(motion_velocity_smoother): add enable curve filtering param #580

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
bac3032
chore(motion_velocity_smoother): add enable curve filtering param
TakaHoribe Sep 21, 2023
bf2af49
Merge remote-tracking branch 'origin/main' into smoother-latearal-acc…
TakaHoribe Sep 25, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,14 @@
# common parameters
curvature_calculation_distance: 5.0 # 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]
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]
# 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]
resample_ds: 0.1 # distance between trajectory points [m]
curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
Expand Down Expand Up @@ -55,8 +57,6 @@
post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m]



# system
over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point

Expand Down
Loading