From ee2d1b17bb2765989e06fe14b13daaed01d4fa5c Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 26 Dec 2023 16:15:12 +0900 Subject: [PATCH] add parameter to switch on and off constraints check Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) 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 fbaca62a39..4914cb8006 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 @@ -13,10 +13,9 @@ sigma_yaw_angle_deg: 5.0 #[angle degree] object_buffer_time_length: 2.0 #[s] history_time_length: 1.0 #[s] - max_lateral_accel: 2.0 # [m/ss] - min_acceleration_before_curve: -2.0 # [m/ss] - deceleration_distance_before_curve: 3.5 # [m] - deceleration_distance_after_curve: 2.0 # [m] + 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 paths + min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8