Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

refactor(map_based_prediction): move hard coded declare parameters to yaml file #4756

Merged
merged 2 commits into from
Aug 25, 2023
Merged

refactor(map_based_prediction): move hard coded declare parameters to yaml file #4756

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
af326c2
move hard coded declare parameters to yaml file
YoshiRi Aug 25, 2023
d2333b7
style(pre-commit): autofix
pre-commit-ci[bot] Aug 25, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions perception/map_based_prediction/config/map_based_prediction.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,10 @@
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
# parameter for shoulder lane prediction
prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8

# parameters for lc prediction
lane_change_detection:
method: "lat_diff_distance" # choose from "lat_diff_distance" or "time_to_change_lane"
time_to_change_lane:
Expand Down
42 changes: 20 additions & 22 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -639,33 +639,31 @@ lanelet::Lanelets getLeftOppositeLanelets(
MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
: Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
{
enable_delay_compensation_ = declare_parameter("enable_delay_compensation", true);
prediction_time_horizon_ = declare_parameter("prediction_time_horizon", 10.0);
prediction_sampling_time_interval_ = declare_parameter("prediction_sampling_delta_time", 0.5);
enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
prediction_sampling_time_interval_ = declare_parameter<double>("prediction_sampling_delta_time");
min_velocity_for_map_based_prediction_ =
declare_parameter("min_velocity_for_map_based_prediction", 1.0);
min_crosswalk_user_velocity_ = declare_parameter("min_crosswalk_user_velocity", 1.0);
declare_parameter<double>("min_velocity_for_map_based_prediction");
min_crosswalk_user_velocity_ = declare_parameter<double>("min_crosswalk_user_velocity");
dist_threshold_for_searching_lanelet_ =
declare_parameter("dist_threshold_for_searching_lanelet", 3.0);
declare_parameter<double>("dist_threshold_for_searching_lanelet");
delta_yaw_threshold_for_searching_lanelet_ =
declare_parameter("delta_yaw_threshold_for_searching_lanelet", 0.785);
sigma_lateral_offset_ = declare_parameter("sigma_lateral_offset", 0.5);
sigma_yaw_angle_deg_ = declare_parameter("sigma_yaw_angle_deg", 5.0);
object_buffer_time_length_ = declare_parameter("object_buffer_time_length", 2.0);
history_time_length_ = declare_parameter("history_time_length", 1.0);
declare_parameter<double>("delta_yaw_threshold_for_searching_lanelet");
sigma_lateral_offset_ = declare_parameter<double>("sigma_lateral_offset");
sigma_yaw_angle_deg_ = declare_parameter<double>("sigma_yaw_angle_deg");
object_buffer_time_length_ = declare_parameter<double>("object_buffer_time_length");
history_time_length_ = declare_parameter<double>("history_time_length");
{ // lane change detection
lane_change_detection_method_ = declare_parameter<std::string>("lane_change_detection.method");

// lane change detection by time_to_change_lane
dist_threshold_to_bound_ = declare_parameter(
"lane_change_detection.time_to_change_lane.dist_threshold_for_lane_change_detection",
1.0); // 1m
time_threshold_to_bound_ = declare_parameter(
"lane_change_detection.time_to_change_lane.time_threshold_for_lane_change_detection",
5.0); // 5 sec
cutoff_freq_of_velocity_lpf_ = declare_parameter(
"lane_change_detection.time_to_change_lane.cutoff_freq_of_velocity_for_lane_change_detection",
0.1); // 0.1Hz
dist_threshold_to_bound_ = declare_parameter<double>(
"lane_change_detection.time_to_change_lane.dist_threshold_for_lane_change_detection"); // 1m
time_threshold_to_bound_ = declare_parameter<double>(
"lane_change_detection.time_to_change_lane.time_threshold_for_lane_change_detection");
cutoff_freq_of_velocity_lpf_ = declare_parameter<double>(
"lane_change_detection.time_to_change_lane.cutoff_freq_of_velocity_for_lane_change_"
"detection");

// lane change detection by lat_diff_distance
dist_ratio_threshold_to_left_bound_ = declare_parameter<double>(
Expand All @@ -680,11 +678,11 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_
num_continuous_state_transition_ =
declare_parameter<int>("lane_change_detection.num_continuous_state_transition");
}
reference_path_resolution_ = declare_parameter("reference_path_resolution", 0.5);
reference_path_resolution_ = declare_parameter<double>("reference_path_resolution");
/* prediction path will disabled when the estimated path length exceeds lanelet length. This
* parameter control the estimated path length = vx * th * (rate) */
prediction_time_horizon_rate_for_validate_lane_length_ =
declare_parameter("prediction_time_horizon_rate_for_validate_lane_length", 0.8);
declare_parameter<double>("prediction_time_horizon_rate_for_validate_shoulder_lane_length");

path_generator_ = std::make_shared<PathGenerator>(
prediction_time_horizon_, prediction_sampling_time_interval_, min_crosswalk_user_velocity_);
Expand Down