From 54db780003fa26ead30a5750bbe675de8249db24 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 5 Feb 2024 18:30:52 +0900 Subject: [PATCH] pedestrians' intention estimation feature against the green signal Signed-off-by: Yuki Takagi --- .../prediction/map_based_prediction.param.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) 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 ed1193f1c4..88d76621b2 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 @@ -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