Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(map_based_prediction): map prediction with acc constraints #759

Merged
merged 5 commits into from
Dec 27, 2023
Merged

feat(map_based_prediction): map prediction with acc constraints #759

Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
c53614a
Add params for acceleration constraints for map_based_prediction
danielsanchezaran Dec 22, 2023
065f722
add new param
danielsanchezaran Dec 22, 2023
e32e0b4
tune params
danielsanchezaran Dec 25, 2023
fc8ff9a
add parameter to switch on and off constraints check
danielsanchezaran Dec 26, 2023
7caf716
improve comment
danielsanchezaran Dec 26, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions ...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,9 @@
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
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
# parameter for shoulder lane prediction
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8

Expand All @@ -29,6 +32,6 @@
diff_dist_threshold_to_left_bound: 0.29 #[m]
diff_dist_threshold_to_right_bound: -0.29 #[m]
num_continuous_state_transition: 3
consider_only_routable_neighbours: false

Check warning on line 35 in autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Unknown word (routable)

reference_path_resolution: 0.5 #[m]
Loading