From e04b1f58f2db2992b57c478ad18b83a0c82ce261 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 31 Oct 2023 10:45:37 +0900 Subject: [PATCH] =?UTF-8?q?feat(behavior=5Fvelocity=5Frun=5Fout):=20ignore?= =?UTF-8?q?=20momentary=20detection=20caused=20by=E2=80=A6=20(#531)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit feat(behavior_velocity_run_out): ignore momentary detection caused by false positive (#647) * feat(behavior_velocity_run_out): ignore momentary detection caused by false positive * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando Co-authored-by: Tomohito ANDO Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_velocity_planner/run_out.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) 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 ff67360785..ca24c59598 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 @@ -48,3 +48,8 @@ enable: false max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. + + # 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