feat(obstacle_cruise_planner): hysteresis for slow down decision #3743
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3743 +/- ##
==========================================
- Coverage 14.46% 14.46% -0.01%
==========================================
Files 1432 1432
Lines 100844 100853 +9
Branches 29770 29775 +5
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Hits 14588 14588
- Misses 70409 70416 +7
- Partials 15847 15849 +2
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purewater0901
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…owarefoundation#3743) * feat(obstacle_cruise_planner): hysteresis for slow down decision Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…owarefoundation#3743) * feat(obstacle_cruise_planner): hysteresis for slow down decision Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…owarefoundation#3743) * feat(obstacle_cruise_planner): hysteresis for slow down decision Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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May 21, 2023
…owarefoundation#3743) * feat(obstacle_cruise_planner): hysteresis for slow down decision Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
We set the detection area to select slow down obstacles.
When the obstacle is on the longitudinal edge of the detection area with some noises, the slow down decision flickers.
To avoid this, this PR uses hysteresis condition to check if the object is inside the detection area or not.
Tests performed
planning simulator
Effects on system behavior
No flickering of slow down obstacle decision.
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