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feat(motion_velocity_smoother): increase engage_acceleration #736

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Feb 14, 2024
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Expand Up @@ -26,7 +26,7 @@
# engage & replan parameters
replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s]
engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement)
engage_acceleration: 0.5 # engage acceleration [m/ss] (use this acceleration when engagement)
engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]

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