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fix: reduce jerk weight for smoother trajectory optimization #2694

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fix: reduce jerk weight for smoother trajectory optimization #2694

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6a8e079
Reduce jerk weight for smoother trajectory optimization
Owen-Liuyuxuan Feb 17, 2026
9f47348
Merge branch 'feat/v0.48/e2e' into Owen-Liuyuxuan-patch-2
Owen-Liuyuxuan Feb 20, 2026
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2 changes: 1 addition & 1 deletion ...ing/autoware_trajectory_optimizer/config/plugins/trajectory_velocity_optimizer.param.yaml
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Expand Up @@ -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)
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