feat(intersection): denoise occlusion by morphology open process (aut…

…owarefoundation#361) parameterize kernel size Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin · May 23, 2023 · 94cb028 · 94cb028
1 parent 575b21f
commit 94cb028
Showing 1 changed file with 2 additions and 2 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
@@ -36,10 +36,10 @@
         free_space_max: 43
         occupied_min: 58
         do_dp: true
-        before_creep_stop_time: 1.0 # [s]
+        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: 2.5 # [m]
+        denoise_kernel: 1.0 # [m]
 
     merge_from_private:
       stop_duration_sec: 1.0