tier4
the higest speed is too small
I encountered the following problem in the simulation of AWSIM software v1.1 using autoware.unniverse. I modified the velocimety_limit parameter in the file to 40m/s for universe/autoware.universe/planning/motion-velocity_smother/config/default_motion-velocity_smother. param.yaml. However, in the actual simulation, the vehicle only reached a maximum speed of 16.88m/s (60km/h). Can you tell me how to solve this problem and which parameter still needs to be modified?
I performed the experiment on the following devices: ・OS: Ubuntu 22.04.3 LTS ・Processor: 13th Gen Intel® Core™ i9-13900K × 32 ・Memory: 128GB ・Graphic: NVIDIA A5000
Have you tried modifying the following file? src/launcher/autoware_launch/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
The default value of Autoware's maximum speed is 15 km/h. If you want more speed, you can modify it by entering the following command in the autoware directory.
sed -i 's/max_vel: 4.17/max_vel: 22.2/' \
./src/launcher/autoware_launch/autoware_launch/config/planning/scenario_planning/common/common.paramyaml
see also https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/#4-run-awsim-and-autoware
