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fix(start_planner): set minimum velocity to avoid high curvature in trajectroy #1334

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Jun 12, 2024
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fix(start_planner): set minimum velocity to avoid high curvature in trajectroy #1334

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9 changes: 8 additions & 1 deletion planning/behavior_path_start_planner_module/src/shift_pull_out.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

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