add steer rate lim for clothoid parking

Signed-off-by: Takumi Ito <[email protected]>
autowarefoundation · Feb 1, 2025 · ad5f1dd · ad5f1dd
1 parent 3db265c
commit ad5f1dd
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diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -82,6 +82,7 @@
             forward_parking_path_interval: 1.0
             forward_parking_max_steer_angle: 0.4  # 22.9deg
             forward_parking_max_steer_angle: 0.35  # 20deg
+            forward_parking_steer_rate_lim: 0.35
             forward_parking_use_clothoid: true
           backward:
             enable_arc_backward_parking: true
@@ -90,6 +91,7 @@
             backward_parking_lane_departure_margin: 0.0
             backward_parking_path_interval: 1.0
             backward_parking_max_steer_angle: 0.4  # 22.9deg
+            backward_parking_steer_rate_lim: 0.35
             backward_parking_use_clothoid: true
 
         # freespace parking

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -44,6 +44,7 @@
       lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
       pull_out_max_steer_angle: 0.4  # 22.9deg
+      pull_out_steer_rate_lim: 0.35
       pull_out_use_clothoid: true
       # search start pose backward
       enable_back: true