From 95d8f83de21770c8869ccd6abe6623fce624803c Mon Sep 17 00:00:00 2001 From: Tomohito Ando Date: Fri, 20 Oct 2023 09:58:07 +0900 Subject: [PATCH 1/2] feat(behavior_velocity_run_out): ignore momentary detection caused by false positive Signed-off-by: Tomohito Ando --- .../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 f9668549f2..e831d228c0 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: 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 \ No newline at end of file From 38ec2cc2399f17e2dae60bef5b54f618f5c00256 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 20 Oct 2023 01:54:13 +0000 Subject: [PATCH 2/2] style(pre-commit): autofix --- .../behavior_velocity_planner/run_out.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 e831d228c0..2641214ac5 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 @@ -52,4 +52,4 @@ # 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 \ No newline at end of file + time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration