From b845c83197b0e6ba688a40d666f4baa0a9a93754 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 14 Feb 2024 21:07:02 +0900 Subject: [PATCH] chore(run_out): adjust parameter (#777) --- .../behavior_velocity_planner/run_out.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 196f7c6296..3af5164a52 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -22,7 +22,7 @@ std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 10.0 # [sec] create predicted path until this time + max_prediction_time: 3.0 # [sec] create predicted path until this time time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method @@ -37,7 +37,7 @@ # Parameter to prevent abrupt stops caused by false positives in perception ignore_momentary_detection: enable: true - time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration + time_threshold: 0.5 # [sec] ignores detections that persist for less than this duration # Typically used when the "detection_method" is set to ObjectWithoutPath or Points # Approach if the ego has stopped in front of the obstacle for a certain period