pedestrians' intention estimation feature against the green signal

Signed-off-by: Yuki Takagi <[email protected]>

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -19,7 +19,14 @@
     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
+
+    crosswalk_with_signal:
+      use_crosswalk_signal: true
+      threshold_speed_as_stopping: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped
+      # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
+      distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order, keys of map
+      timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map
+
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8