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Unfortunately, Autoware does not currently support control in reverse. In LGSVL, you must shift into reverse gear, then apply the accelerator. However, there is an ongoing effort to support this feature. See https://gitlab.com/autowarefoundation/autoware.ai/core_planning/issues/8 and the related merge requests. Any help in competing this task is welcome! However, be aware that October 1st is the deadline for merge requests for features to be included in the 1.13.0 release.