From e91daff03638f62c28301ebe44aafdc8d6b801d4 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Mon, 16 Oct 2023 17:52:44 +0900 Subject: [PATCH] enable to control lateral path convergence time Signed-off-by: yoshiri --- .../prediction/map_based_prediction.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 31fae9c811..260ae45da2 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 @@ -2,6 +2,7 @@ ros__parameters: enable_delay_compensation: true prediction_time_horizon: 10.0 #[s] + lateral_control_time_horizon: 5.0 #[s] prediction_sampling_delta_time: 0.5 #[s] min_velocity_for_map_based_prediction: 1.39 #[m/s] min_crosswalk_user_velocity: 1.39 #[m/s]