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pre-commit-ci[bot] authored and oguzkaganozt committed Oct 3, 2024
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1 change: 0 additions & 1 deletion planning/autoware_velocity_smoother/README.ja.md
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{{json_to_markdown("planning/autoware_velocity_smoother/schema/Linf.schema.json")}}


### Constraint parameters

| Name | Type | Description | Default value |
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1 change: 0 additions & 1 deletion planning/autoware_velocity_smoother/README.md
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Expand Up @@ -131,7 +131,6 @@ After the optimization, a resampling called `post resampling` is performed befor

{{json_to_markdown("planning/autoware_velocity_smoother/schema/Linf.schema.json")}}


### Constraint parameters

| Name | Type | Description | Default value |
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4 changes: 2 additions & 2 deletions planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml
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@@ -1,4 +1,4 @@
/**:
ros__parameters:
ros__parameters:
ego_nearest_dist_threshold: 0.3 # threshold to find the nearest point on the trajectory [m]
ego_nearest_yaw_threshold: 1.046 # threshold to find the nearest point on the trajectory [rad]
ego_nearest_yaw_threshold: 1.046 # threshold to find the nearest point on the trajectory [rad]
270 changes: 138 additions & 132 deletions planning/autoware_velocity_smoother/schema/Analytical.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for analytical",
"type": "object",
"definitions": {
"analytical_params": {
"type": "object",
"properties": {
"resample": {
"type": "object",
"properties": {
"ds_resample": {
"type": "number",
"default": 0.1,
"description": "Enable resampling"
},
"num_resample": {
"type": "number",
"default": 1,
"description": "Resample interval"
},
"delta_yaw_threshold": {
"type": "number",
"default": 0.785,
"description": "Threshold for yaw change"
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for analytical",
"type": "object",
"definitions": {
"analytical_params": {
"type": "object",
"properties": {
"resample": {
"type": "object",
"properties": {
"ds_resample": {
"type": "number",
"default": 0.1,
"description": "Enable resampling"
},
"required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
"additionalProperties": false
},
"latacc": {
"type": "object",
"properties": {
"enable_constant_velocity_while_turning": {
"type": "boolean",
"default": false,
"description": "Enable constant velocity while turning"
},
"constant_velocity_dist_threshold": {
"type": "number",
"default": 2.0,
"description": "Threshold for constant velocity"
}
"num_resample": {
"type": "number",
"default": 1,
"description": "Resample interval"
},
"required": [
"enable_constant_velocity_while_turning",
"constant_velocity_dist_threshold"
],
"additionalProperties": false
"delta_yaw_threshold": {
"type": "number",
"default": 0.785,
"description": "Threshold for yaw change"
}
},
"forward": {
"type": "object",
"properties": {
"max_acc": {
"type": "number",
"default": 1.0,
"description": "Maximum forward acceleration"
},
"min_acc": {
"type": "number",
"default": -1.0,
"description": "Minimum forward acceleration"
},
"max_jerk": {
"type": "number",
"default": 0.3,
"description": "Maximum forward jerk"
},
"min_jerk": {
"type": "number",
"default": -0.3,
"description": "Minimum forward jerk"
},
"kp": {
"type": "number",
"default": 0.3,
"description": "Proportional gain for forward control"
}
"required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
"additionalProperties": false
},
"latacc": {
"type": "object",
"properties": {
"enable_constant_velocity_while_turning": {
"type": "boolean",
"default": false,
"description": "Enable constant velocity while turning"
},
"required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
"additionalProperties": false
"constant_velocity_dist_threshold": {
"type": "number",
"default": 2.0,
"description": "Threshold for constant velocity"
}
},
"backward": {
"type": "object",
"properties": {
"start_jerk": {
"type": "number",
"default": -0.1,
"description": "Jerk at the start of backward motion"
},
"min_jerk_mild_stop": {
"type": "number",
"default": -0.3,
"description": "Minimum jerk for mild stopping"
},
"min_jerk": {
"type": "number",
"default": -1.5,
"description": "Minimum backward jerk"
},
"min_acc_mild_stop": {
"type": "number",
"default": -1.0,
"description": "Minimum acceleration for mild stopping"
},
"min_acc": {
"type": "number",
"default": -2.5,
"description": "Minimum backward acceleration"
},
"span_jerk": {
"type": "number",
"default": -0.01,
"description": "Span jerk value for backward motion"
}
},
"required": ["start_jerk", "min_jerk_mild_stop", "min_jerk", "min_acc_mild_stop", "min_acc", "span_jerk"],
"additionalProperties": false
}
"required": [
"enable_constant_velocity_while_turning",
"constant_velocity_dist_threshold"
],
"additionalProperties": false
},
"required": ["resample", "latacc", "forward", "backward"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/analytical_params"
}
"forward": {
"type": "object",
"properties": {
"max_acc": {
"type": "number",
"default": 1.0,
"description": "Maximum forward acceleration"
},
"min_acc": {
"type": "number",
"default": -1.0,
"description": "Minimum forward acceleration"
},
"max_jerk": {
"type": "number",
"default": 0.3,
"description": "Maximum forward jerk"
},
"min_jerk": {
"type": "number",
"default": -0.3,
"description": "Minimum forward jerk"
},
"kp": {
"type": "number",
"default": 0.3,
"description": "Proportional gain for forward control"
}
},
"required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
"additionalProperties": false
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

"backward": {
"type": "object",
"properties": {
"start_jerk": {
"type": "number",
"default": -0.1,
"description": "Jerk at the start of backward motion"
},
"min_jerk_mild_stop": {
"type": "number",
"default": -0.3,
"description": "Minimum jerk for mild stopping"
},
"min_jerk": {
"type": "number",
"default": -1.5,
"description": "Minimum backward jerk"
},
"min_acc_mild_stop": {
"type": "number",
"default": -1.0,
"description": "Minimum acceleration for mild stopping"
},
"min_acc": {
"type": "number",
"default": -2.5,
"description": "Minimum backward acceleration"
},
"span_jerk": {
"type": "number",
"default": -0.01,
"description": "Span jerk value for backward motion"
}
},
"required": [
"start_jerk",
"min_jerk_mild_stop",
"min_jerk",
"min_acc_mild_stop",
"min_acc",
"span_jerk"
],
"additionalProperties": false
}
},
"required": ["resample", "latacc", "forward", "backward"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/analytical_params"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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