feat(autoware_launch): suppress flickering to entry slow down (#382)

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jun 5, 2023 · 87a63f5 · 87a63f5
1 parent 2c33f38
commit 87a63f5
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -96,6 +96,9 @@
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2
 
+        successive_num_to_entry_slow_down_condition: 5
+        successive_num_to_exit_slow_down_condition: 5
+
     cruise:
       pid_based_planner:
         use_velocity_limit_based_planner: true