fix(behavior_velocity_run_out_module): fix slow_down jerk filter #1744
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Signed-off-by: tomoya.kimura <[email protected]>
tkimura4
requested review from
mkuri,
shmpwk and
TomohitoAndo
as code owners
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Description
run_outをslow_down_limit.enable = trueで動かすと、JerkFilterによりrun_out以外の停止線も上書きされて無効化されてしまう現象があったため、修正
Related links
None
How was this PR tested?
Before:
(走行中にAutoware ControlをDisableにすることで強制的に停止線前で速度が出ている状況を再現)
cap-.2024-12-26-10-48-29.mp4
After:
(走行中にAutoware ControlをDisableにすることで強制的に停止線前で速度が出ている状況を再現)
cap-.2024-12-26-10-52-19.mp4
(なお、下記の動画ではrun_outのテストのためにobstacle_cruiseを無効にしている)
cap-.2024-12-26-10-53-35.mp4
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
slow_down_limit.enable = trueでrun)outを起動した際に、他の回避モジュールや一時停止モジュールによる停止線が上書きされて無視されるバグが修正される