feat(map_based_prediction): consider crosswalks signals (#849)

add param

Signed-off-by: Yuki Takagi <[email protected]>

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -19,6 +19,7 @@
     use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
     speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
     acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
+    use_crosswalk_signal: true
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8