Merge pull request #696 from tier4/feat/relax-emergency-brake

feat: relax acceleration of emergency stop

Author: saka1-s

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -62,11 +62,11 @@
 
     # acceleration limit
     max_acc: 1.86
-    min_acc: -6.00
+    min_acc: -3.36
 
     # jerk limit
     max_jerk: 2.0
-    min_jerk: -30.0
+    min_jerk: -5.0
     max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1]
 
     # slope compensation

autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml

@@ -10,7 +10,7 @@
     filter_activated_velocity_threshold: 1.0
     external_emergency_stop_heartbeat_timeout: 0.0
     stop_hold_acceleration: -1.5
-    emergency_acceleration: -4.0
+    emergency_acceleration: -2.5
     moderate_stop_service_acceleration: -1.5
     stopped_state_entry_duration_time: 0.1
     stop_check_duration: 1.0
@@ -19,8 +19,8 @@
       reference_speed_points: [0.1, 0.2, 20.0, 30.0]
       steer_lim: [1.0, 1.0, 1.0, 0.8]
       steer_rate_lim: [1.0, 1.0, 1.0, 0.8]
-      lon_acc_lim: [6.0, 6.0, 6.0, 6.0]
-      lon_jerk_lim: [80.0, 30.0, 30.0, 30.0]
+      lon_acc_lim: [5.0, 5.0, 5.0, 4.0]
+      lon_jerk_lim: [5.0, 5.0, 5.0, 4.0]
       lat_acc_lim: [5.0, 5.0, 5.0, 4.0]
       lat_jerk_lim: [7.0, 7.0, 7.0, 6.0]
       actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8]

autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml

@@ -2,5 +2,5 @@
   ros__parameters:
     update_rate: 10
     min_acceleration: -1.0
-    max_jerk: 0.6
-    min_jerk: -0.6
+    max_jerk: 0.3
+    min_jerk: -0.3