From 6bc483a736edd11bebbd264dd7806511364ad015 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Dec 2023 11:30:04 +0900 Subject: [PATCH] feat(map_based_prediction): map prediction with acc constraints (#759) * Add params for acceleration constraints for map_based_prediction Signed-off-by: Daniel Sanchez * add new param Signed-off-by: Daniel Sanchez * tune params Signed-off-by: Daniel Sanchez * add parameter to switch on and off constraints check Signed-off-by: Daniel Sanchez * improve comment Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../prediction/map_based_prediction.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 69ff96a263..fe4d2a51ec 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 @@ -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