feat(intersection): denoise occlusion by morphology open process (#361)

parameterize kernel size Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · May 19, 2023 · 9e102a5 · 9e102a5
1 parent 038ec38
commit 9e102a5
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -40,6 +40,7 @@
         before_creep_stop_time: 0.1 # [s]
         min_vehicle_brake_for_rss: -2.5 # [m/s^2]
         max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
+        denoise_kernel: 1.0 # [m]
 
     merge_from_private:
       stop_duration_sec: 1.0