feat(map_based_prediction): consider crosswalks signals (autowarefoun…

…dation#849) add param Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Feb 2, 2024 · 4abad00 · 4abad00
1 parent 700b997
commit 4abad00
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...re_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/...re_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