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feat/tune run out for beta/v0.29.0 #593

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Sep 12, 2024
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feat/tune run out for beta/v0.29.0 #593

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6 changes: 3 additions & 3 deletions ...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
ego_cut_line_length: 3.0 # The width of the ego's cut line
ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path
keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path.
keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled
keep_stop_point_time: 2.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled

# Parameter to create abstracted dynamic obstacles
dynamic_obstacle:
Expand All @@ -29,7 +29,7 @@
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: 3.0 # [sec] create predicted path until this time
max_prediction_time: 7.0 # [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

Expand All @@ -44,7 +44,7 @@
# Parameter to prevent abrupt stops caused by false positives in perception
ignore_momentary_detection:
enable: true
time_threshold: 0.5 # [sec] ignores detections that persist for less than this duration
time_threshold: 0.15 # [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
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