feat(behavior_velocity_run_out): ignore momentary detection caused by…

… false positive Signed-off-by: Tomohito Ando <[email protected]>
autowarefoundation · Oct 20, 2023 · 95d8f83 · 95d8f83
1 parent 9d9eb33
commit 95d8f83
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -48,3 +48,8 @@
         enable: true
         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