From 6a8e07971fd8adb70ebb02ef96971fafd3747a22 Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Tue, 17 Feb 2026 17:29:48 +0900 Subject: [PATCH] Reduce jerk weight for smoother trajectory optimization https://star4.slack.com/archives/C07DMS06H6U/p1771309187965109?thread_ts=1771225315.644209&cid=C07DMS06H6U --- .../config/plugins/trajectory_velocity_optimizer.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/autoware_trajectory_optimizer/config/plugins/trajectory_velocity_optimizer.param.yaml b/planning/autoware_trajectory_optimizer/config/plugins/trajectory_velocity_optimizer.param.yaml index 924a0ecab2d07..6352e27e059c7 100644 --- a/planning/autoware_trajectory_optimizer/config/plugins/trajectory_velocity_optimizer.param.yaml +++ b/planning/autoware_trajectory_optimizer/config/plugins/trajectory_velocity_optimizer.param.yaml @@ -27,7 +27,7 @@ # Note: max_velocity uses max_speed_mps from parent namespace continuous_jerk_smoother: # QP optimization weights - jerk_weight: 100.0 # Weight for jerk minimization (smoothness) + jerk_weight: 10.0 # Weight for jerk minimization (smoothness) over_v_weight: 1000.0 # Weight for velocity limit violation (slack) over_a_weight: 30.0 # Weight for acceleration limit violation (slack) over_j_weight: 10.0 # Weight for jerk limit violation (slack)