improve parameters for object filtering

Signed-off-by: Maxime CLEMENT <[email protected]>
tier4 · Feb 27, 2025 · 0d26435 · 0d26435
1 parent 106fa83
commit 0d26435
Showing 1 changed file with 5 additions and 6 deletions.
diff --git a/...scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml b/...scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml
@@ -24,20 +24,19 @@
 
       objects:
         target_labels: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"]
-        parked_labels: ["CAR"]
-        parked_velocity_threshold: 0.5  # [m/s]
         minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
         predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
         ignore:  # options to ignore some objects
+          if_stopped: true  # if true, object with a velocity bellow the threshold are ignored
+          stopped_velocity_threshold: 0.5  # [m/s]
+          if_on_ego_trajectory: true  # if true, object located on the ego trajectory footprint are ignored
           if_behind_ego: true  # if true, objects located behind the ego vehicles are ignored
           if_pedestrian_on_crosswalk: true # if true, pedestrians located on a crosswalk are ignored
-          if_vehicle_on_yield_lane: true  # if true, road vehicles are ignored if coming from a lane yielding to the ego lane
+          if_vehicle_on_yield_lane: true  # if true, non-pedestrians are ignored if coming from a lane yielding to the ego lane
         confidence_filtering:
-          threshold: 0.0  # [-]
+          threshold: 0.0  # [-] only use predicted paths with a higher confidence value than this threshold
           only_use_highest: true  # if true, only the path(s) with the highest confidence are used
         cut_predicted_paths:  # options to cut predicted paths of dynamic objects
           if_crossing_ego_from_behind: true # if true, cut after crossing the ego vehicle
-          if_crossing_parked_objects: true  # if true, cut after crossing a parked vehicle
           polygon_types: ["crosswalk"]  # types of polygons in the vector map used to cut predicted paths
-          lanelet_types: [""]  # types of lanelets in the vector map used to cut predicted paths
           linestring_types: ["guard_rail"]  # types of linestrings in the vector map used to cut predicted paths