feat(map_based_prediction): enable to control lateral path convergenc…

…e time (#637) enable to control lateral path convergence time Signed-off-by: yoshiri <[email protected]>
tier4 · Oct 20, 2023 · 9e5293c · 9e5293c
1 parent 681f5f7
commit 9e5293c
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
@@ -2,6 +2,7 @@
   ros__parameters:
     enable_delay_compensation: true
     prediction_time_horizon: 10.0 #[s]
+    lateral_control_time_horizon: 5.0 #[s]
     prediction_sampling_delta_time: 0.5 #[s]
     min_velocity_for_map_based_prediction: 1.39 #[m/s]
     min_crosswalk_user_velocity: 1.39 #[m/s]