feat(avoidance): add time series hysteresis (#530)

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Aug 27, 2023 · 42efcc3 · 42efcc3
1 parent 86ce74b
commit 42efcc3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -142,7 +142,8 @@
         time_resolution: 0.5                             # [s]
         time_horizon: 10.0                               # [s]
         safety_check_backward_distance: 100.0            # [m]
-        safety_check_hysteresis_factor: 2.0              # [-]
+        hysteresis_factor_expand_rate: 1.5               # [-]
+        hysteresis_factor_safe_count: 10                 # [-]
         # rss parameters
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]