feat(run_out): add config of points interval (#455)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
tier4 · Aug 26, 2022 · b5a7c89 · b5a7c89
1 parent b7039ef
commit b5a7c89
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -24,6 +24,7 @@
         height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
         max_prediction_time: 10.0 # [sec] create predicted path until this time
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
+        points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
       # approach if ego has stopped in the front of the obstacle for a certain amount of time
       approaching: