set hysteresis-based obstacle moving classification

Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
autowarefoundation · Nov 13, 2023 · 6a26609 · 6a26609
1 parent aed0eec
commit 6a26609
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -205,6 +205,8 @@
           min_ego_velocity: 1.0
           max_ego_velocity: 2.0
 
+      moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"
+      moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold
 
       time_margin_on_target_velocity: 1.5 # [s]