From 61d8ee599640f4f5958a4e45b77fd4a3ac4fc7d7 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 19 Jan 2024 13:16:46 +0900 Subject: [PATCH] feat(map_based_prediction): use acc for map prediction (#788) * add param to toggle on and off acc consideration Signed-off-by: Daniel Sanchez * add params Signed-off-by: Daniel Sanchez * set default to true for evaluator testing Signed-off-by: Daniel Sanchez * set back to false default Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index fe4d2a51ec..fdd64174de 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -16,6 +16,9 @@ check_lateral_acceleration_constraints: false # whether to check if the predicted path complies with lateral acceleration constraints max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve + 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 # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8