Merge pull request #529 from tier4/hotfix/v0.29.0/force_acceleration_…

…slow

feat(motion_velocity_smoother): cherry pick force acceleration and slow driving

autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml

@@ -60,3 +60,15 @@
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
 
     plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.
+
+    # force acceleration
+    force_acceleration:
+      max_acc: 2.0                            # max longitudinal acceleration in force acceleration mode [m/ss]
+      max_jerk: 5.0                           # max longitudinal jerk in force acceleration mode         [m/sss]
+      max_lateral_acc: 1.0                    # max lateral acceleration in force acceleration mode       [m/ss]
+      engage_velocity: 0.25                   # engage velocity in force acceleration mode               [m/s]
+      engage_acceleration: 0.5                # engage acceleration in force acceleration mode            [m/ss]
+
+    # force slow driving from stopping state
+    force_slow_driving:
+      velocity: 1.39                          # velocity in slow driving mode [m/s]