From 8e01157da05764901807e2e09131af2e1a5f424e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 19 Sep 2023 11:13:51 +0900 Subject: [PATCH] tuning based on experiment (#639) Signed-off-by: Mamoru Sobue --- .../ground_segmentation/ground_segmentation.param.yaml | 4 ++-- .../occupancy_grid_map/binary_bayes_filter_updater.param.yaml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index b367fef386..b2a8be6e85 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -9,8 +9,8 @@ parameters: min_x: -100.0 max_x: 150.0 - min_y: -70.0 - max_y: 70.0 + min_y: -90.0 + max_y: 90.0 max_z: 2.5 min_z: -2.5 # recommended 0.0 for non elevation_grid_mode negative: False diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml index 4f730a9460..a36d6f24a6 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml @@ -5,4 +5,4 @@ occupied_to_free: 0.05 free_to_occupied: 0.2 free_to_free: 0.8 - v_ratio: 0.5 + v_ratio: 1.5