Hysteresis

If the LiDAR detects an object near the boundary of the area, the output may turn on and off repeatedly. To solve this, when an object is detected in the area, the area is expanded by a fixed ratio. When the object is no longer detected in the area, it will return to the original area setting.

If the detection area is set to the limit of a nearby object such as a narrow passage or near a wall, the detection area increased by hysteresis will be applied to the object and it may happen to be detected continuously even if the object is not there. In that case, it is necessary to reduce the hysteresis value or the detection area.