fix(start_planner): set minimum velocity to avoid high curvature in t…

…rajectroy (autowarefoundation#7401) * set initial velocity Signed-off-by: kyoichi-sugahara <[email protected]> * fix comment Signed-off-by: kyoichi-sugahara <[email protected]> * add reason for the change Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
tier4 · Jun 12, 2024 · a073f7a · a073f7a
1 parent 462f5fd
commit a073f7a
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp
@@ -324,7 +324,14 @@ std::vector<PullOutPath> ShiftPullOut::calcPullOutPaths(
     shift_line.end = *shift_end_pose_ptr;
     shift_line.end_shift_length = shift_length;
     path_shifter.addShiftLine(shift_line);
-    path_shifter.setVelocity(0.0);  // initial velocity is 0
+    // In the current path generation logic:
+    // - Considering the maximum curvature of the path results in a smaller shift distance.
+    // - Setting the allowable maximum lateral acceleration to a value smaller than the one
+    // calculated by the constant lateral jerk trajectory generation.
+    // - Setting the initial velocity to a very small value, such as 0.0.
+    // These conditions cause the curvature around the shift start pose to become larger than
+    // expected. To address this issue, an initial velocity 1.0 is provided.
+    path_shifter.setVelocity(1.0);
     path_shifter.setLongitudinalAcceleration(longitudinal_acc);
     path_shifter.setLateralAccelerationLimit(lateral_acc);