From 2b6e6d61cc73fbcf28953bf36ea816d45991b97e Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 6 Mar 2024 21:54:18 +0900
Subject: [PATCH 1/3] feat: set the max velocity to 15km/h (#763)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../config/planning/scenario_planning/common/common.param.yaml  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index face8610c7..5e8809cd36 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 11.1           # max velocity limit [m/s]
+    max_velocity: 4.17      # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:

From 46c08e2975f4e27aa7adf58dc6d63ec3218daf98 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 6 Mar 2024 22:13:20 +0900
Subject: [PATCH 2/3] feat: enable autonomous emergency braking (#764)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../launch/components/tier4_control_component.launch.xml        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index d15e050d7a..5c3cf06ad0 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>

From b9858d9fb06355dd18b6d819895b655b2ad8b386 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Wed, 6 Mar 2024 22:13:40 +0900
Subject: [PATCH 3/3] feat: switch to obstacle_cruise_planner (#765)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/config/planning/preset/default_preset.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 69328a9b79..674b3e07e7 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -100,7 +100,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none