From 6a266099d47412f340d6da75865d75d68f0f0d18 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 7 Nov 2023 14:50:23 +0900 Subject: [PATCH] set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index bc8c71f58b..9ff338fc1b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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]